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Autonomous deployment of unmanned aerial vehicles (UAVs) supporting next-generation communication networks requires efficient trajectory planning methods. We propose a new end-to-end reinforcement learning (RL) approach to UAV-enabled data…

With the continual adoption of Uncrewed Aerial Vehicles (UAVs) across a wide-variety of application spaces, robust aerial manipulation remains a key research challenge. Aerial manipulation tasks require interacting with objects in the…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…

Safe navigation of drones in the presence of adversarial physical attacks from multiple pursuers is a challenging task. This paper proposes a novel approach, asynchronous multi-stage deep reinforcement learning (AMS-DRL), to train…

Post-disaster road assessment (PDRA) is essential for emergency response, enabling rapid evaluation of infrastructure conditions and efficient allocation of resources. Although drones provide a flexible and effective tool for PDRA, routing…

Route planning is essential to mobile robot navigation problems. In recent years, deep reinforcement learning (DRL) has been applied to learning optimal planning policies in stochastic environments without prior knowledge. However, existing…

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…

Recent studies have shown that reinforcement learning (RL) models are vulnerable in various noisy scenarios. For instance, the observed reward channel is often subject to noise in practice (e.g., when rewards are collected through sensors),…

Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…

Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…

Equipping characters with diverse motor skills is the current bottleneck of physics-based character animation. We propose a Deep Reinforcement Learning (DRL) framework that enables physics-based characters to learn and explore motor skills…

Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

First-order reinforcement learning with differentiable simulation is promising for quadrotor control, but practical progress remains fragmented across task-specific settings. To support more systematic development and evaluation, we present…

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…