相关论文: Autonomous UAV Flight Navigation in Confined Space…

On-policy reinforcement learning (RL) algorithms are typically characterized as algorithms that perform policy updates using i.i.d. trajectories collected by the agent's current policy. However, after observing only a finite number of…

Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…

Deep Reinforcement Learning (DRL) has become a popular method for solving control problems in power systems. Conventional DRL encourages the agent to explore various policies encoded in a neural network (NN) with the goal of maximizing the…

In recent years, autonomous driving has become a popular field of study. As control at tire grip limit is essential during emergency situations, algorithms developed for racecars are useful for road cars too. This paper examines the use of…

We introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots. Equipped with domain randomization, Air Learning exposes a UAV agent to a diverse set…

Vessel navigation is difficult in restricted waterways and in the presence of static and dynamic obstacles. This difficulty can be attributed to the high-level decisions taken by humans during these maneuvers, which is evident from the fact…

The rapid growth of the low-altitude economy has driven the widespread adoption of unmanned aerial vehicles (UAVs). This growing deployment presents new challenges for UAV trajectory planning in complex urban environments. However, existing…

In unseen and complex outdoor environments, collision avoidance navigation for unmanned aerial vehicle (UAV) swarms presents a challenging problem. It requires UAVs to navigate through various obstacles and complex backgrounds. Existing…

Proximal Policy Optimization (PPO) dominates reinforcement learning and LLM alignment but relies on a "hard clipping" mechanism that discards valuable gradients. Conversely, unconstrained methods like SPO expose the optimization to…

We study reinforcement learning in hybrid discrete-continuous action spaces, such as settings where the discrete component selects a regime (or index) and the continuous component optimizes within it -- a structure common in robotics,…

Autonomous indoor navigation of UAVs presents numerous challenges, primarily due to the limited precision of GPS in enclosed environments. Additionally, UAVs' limited capacity to carry heavy or power-intensive sensors, such as overheight…

Dairy farms consume a significant amount of electricity for their operations, and this research focuses on enhancing energy efficiency and minimizing the impact on the environment in the sector by maximizing the utilization of renewable…

This paper presents the first end-to-end framework that combines guidance, navigation, and centralised task allocation for multiple UAVs performing autonomous search-and-rescue (SAR) in GNSS-denied indoor environments. A Twin Delayed Deep…

The recent remarkable progress of deep reinforcement learning (DRL) stands on regularization of policy for stable and efficient learning. A popular method, named proximal policy optimization (PPO), has been introduced for this purpose. PPO…

During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…

Reinforcement learning (RL) agents are vulnerable to adversarial disturbances, which can deteriorate task performance or compromise safety specifications. Existing methods either address safety requirements under the assumption of no…

The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and…

Reinforcement learning (RL) is a core approach for robot control when expert demonstrations are unavailable. On-policy methods such as Proximal Policy Optimization (PPO) are widely used for their stability, but their reliance on narrowly…

Tremendous progress has been made in reinforcement learning (RL) over the past decade. Most of these advancements came through the continual development of new algorithms, which were designed using a combination of mathematical derivations,…

Instability and slowness are two main problems in deep reinforcement learning. Even if proximal policy optimization (PPO) is the state of the art, it still suffers from these two problems. We introduce an improved algorithm based on…