相关论文: MPC-based Deep Reinforcement Learning Method for S…

In this work, we propose a Model Predictive Control (MPC)-based Reinforcement Learning (RL) method for Autonomous Surface Vehicles (ASVs). The objective is to find an optimal policy that minimizes the closed-loop performance of a simplified…

Autonomous free-flyers play a critical role in intravehicular tasks aboard the International Space Station (ISS), where their precise docking under sensing noise, small actuation mismatches, and environmental variability remains a…

Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…

A policy for six-degree-of-freedom docking maneuvers is developed through reinforcement learning and implemented as a feedback control law. Reinforcement learning provides a potential framework for robust, autonomous maneuvers in uncertain…

This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Reinforcement Learning (RL) has demonstrated a huge potential in learning optimal policies without any prior knowledge of the process to be controlled. Model Predictive Control (MPC) is a popular control technique which is able to deal with…

In the field of space exploration, floating platforms play a crucial role in scientific investigations and technological advancements. However, controlling these platforms in zero-gravity environments presents unique challenges, including…

With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…

Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…

Magnetic micro-robots have demonstrated immense potential in biomedical applications, such as in vivo drug delivery, non-invasive diagnostics, and cell-based therapies, owing to their precise maneuverability and small size. However, current…

This study conducts a comparative analysis of Model Predictive Control (MPC) and Proximal Policy Optimization (PPO), a Deep Reinforcement Learning (DRL) algorithm, applied to a 1-Degree of Freedom (DOF) Quanser Aero 2 system. Classical…

In this paper, we present the use of Reinforcement Learning (RL) based on Robust Model Predictive Control (RMPC) for the control of an Autonomous Surface Vehicle (ASV). The RL-MPC strategy is utilized for obstacle avoidance and target…

Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…

Autonomous parking is a key technology in modern autonomous driving systems, requiring high precision, strong adaptability, and efficiency in complex environments. This paper proposes a Deep Reinforcement Learning (DRL) framework based on…

Reinforcement Learning (RL) and Machine Learning Integrated Model Predictive Control (ML-MPC) are promising approaches for optimizing hydrogen-diesel dual-fuel engine control, as they can effectively control multiple-input multiple-output…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

This paper proposes tackling safety-critical stochastic Reinforcement Learning (RL) tasks with a sample-based, model-based approach. At the core of the method lies a Model Predictive Control (MPC) scheme that acts as function approximation,…