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Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…

Deep Reinforcement Learning (DRL) has emerged as a powerful model-free paradigm for learning optimal policies. However, in navigation tasks with cluttered environments, DRL methods often suffer from insufficient exploration, especially…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable autonomous navigation and robust obstacle avoidance. However, traditional modular pipelines often incur cumulative latency, whereas…

This paper proposes a novel framework for autonomous drone navigation through a cluttered environment. Control policies are learnt in a low-level environment during training and are applied to a complex environment during inference. The…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…

Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…

Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

Deploying robot learning methods to aerial robots in unstructured environments remains both challenging and promising. While recent advances in deep reinforcement learning (DRL) have enabled end-to-end flight control, the field still lacks…

Reinforcement learning has demonstrated significant potential in the field of autonomous driving. However, it suffers from defects such as training instability and unsafe action outputs when faced with autonomous racing environments…

Agile flight in complex environments poses significant challenges to current motion planning methods, as they often fail to fully leverage the quadrotor dynamic potential, leading to performance failures and reduced efficiency during…

This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…