相关论文: Reinforcement Learning-Based Energy-Aware Coverage…

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…

This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV applications such as inspection and aerial survey. However,…

This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…

Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However, in practical applications, balancing exploration, learning…

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…

Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…

Link failures in wide area networks are common and cause significant data losses. Mesh-based protection schemes offer high capacity efficiency but they are slow and require complex signaling. Additionally, real-time reconfigurations of…

For scenes such as floods and earthquakes, the disaster area is large, and rescue time is tight. Multi-UAV exploration is more efficient than a single UAV. Existing UAV exploration work is modeled as a Coverage Path Planning (CPP) task to…

This study proposes a hybrid curriculum reinforcement learning (CRL) framework based on a fully spiking neural network (SNN) for 9-degree-of-freedom robotic arms performing target reaching and grasping tasks. To reduce network complexity…

Link failures in wide area networks are common and cause significant data losses. Mesh-based protection schemes offer high capacity efficiency but they are slow and require complex signaling. Additionally, real-time reconfiguration of a…

The rapid growth of Electric Vehicle (EV) adoption challenges power distribution networks through peak load spikes, voltage instability, and transformer overloads from uncoordinated charging. While Model Predictive Control (MPC) and…

We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph $G$. Existing graph-based MCPP algorithms first compute a tree…

Soft actor-critic (SAC) is a popular algorithm for max-entropy reinforcement learning. In practice, the energy-based policies in SAC are often approximated using simple policy classes for efficiency, sacrificing the expressiveness and…

In Part 1 of this paper, we introduced a coding-based proactive network protection scheme, named Coded Path Protection (CPP). In CPP, a backup stream of the primary data is encoded with other data streams, resulting in capacity savings. In…

The utilization of Unmanned Ground Vehicles (UGVs) for patrolling industrial sites has expanded significantly. These UGVs typically are equipped with perception systems, e.g., computer vision, with limited range due to sensor limitations or…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In the proposed sampling-based coverage path planning method, we formulate the multi-UAV inspection applications as a…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

With the increasing demand for efficient and flexible robotic exploration solutions, Reinforcement Learning (RL) is becoming a promising approach in the field of autonomous robotic exploration. However, current RL-based exploration…

With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion…