相关论文: Automated Parking Trajectory Generation Using Deep…

Connected and automated vehicles (CAVs) have the potential to enhance driving safety, for example by enabling safe vehicle following and more efficient traffic scheduling. For such future deployments, safety requirements should be…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

Autonomous parking (AP) represents a critical yet complex subset of intelligent vehicle automation, characterized by tight spatial constraints, frequent close-range obstacle interactions, and stringent safety margins. However, conventional…

Merging into the highway from the on-ramp is an essential scenario for automated driving. The decision-making under the scenario needs to balance the safety and efficiency performance to optimize a long-term objective, which is challenging…

Deep Reinforcement Learning (DRL) is regarded as a potential method for car-following control and has been mostly studied to support a single following vehicle. However, it is more challenging to learn a stable and efficient car-following…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…

In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints robustification, feasibility, and closed-loop performance. To…

In this work the problem of path planning for an autonomous vehicle that moves on a freeway is considered. The most common approaches that are used to address this problem are based on optimal control methods, which make assumptions about…

In pursuit of autonomous vehicles, achieving human-like driving behavior is vital. This study introduces adaptive autopilot (AA), a unique framework utilizing constrained-deep reinforcement learning (C-DRL). AA aims to safely emulate human…

We propose a new policy iteration theory as an important extension of soft policy iteration and Soft Actor-Critic (SAC), one of the most efficient model free algorithms for deep reinforcement learning. Supported by the new theory, arbitrary…

Deep reinforcement learning (DRL) algorithms have been demonstrated to be effective in a wide range of challenging decision making and control tasks. However, these methods typically suffer from severe action oscillations in particular in…

Recently, autonomous driving has made substantial progress in addressing the most common traffic scenarios like intersection navigation and lane changing. However, most of these successes have been limited to scenarios with well-defined…

Overtaking on two-lane roads is a great challenge for autonomous vehicles, as oncoming traffic appearing on the opposite lane may require the vehicle to change its decision and abort the overtaking. Deep reinforcement learning (DRL) has…

This paper focuses on developing a deep reinforcement learning (DRL) control strategy to mitigate aerodynamic forces acting on a three dimensional (3D) square cylinder under high Reynolds number flow conditions. Four jets situated at the…

Deep reinforcement learning is actively used for training autonomous car policies in a simulated driving environment. Due to the large availability of various reinforcement learning algorithms and the lack of their systematic comparison…

Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…

Soft Actor-Critic (SAC) is an off-policy actor-critic reinforcement learning algorithm, essentially based on entropy regularization. SAC trains a policy by maximizing the trade-off between expected return and entropy (randomness in the…

While most current research in Reinforcement Learning (RL) focuses on improving the performance of the algorithms in controlled environments, the use of RL under constraints like those met in the video game industry is rarely studied.…