reinforcement-learningmodel-predictive-controlmodel-based-rlderivative-free-optimizationsampling-based-planning UpdatedOct 20, 2020 Python yiyunevin/RL-RRT-Local-Planner Star43 A ROS package of a autonomous navigation method based on SAC and Bidirectional RRT* (Repository RL-RRT-Global-Planner). ...
Multi-robot systemsSensor-based planningThis paper proposes a novel highly scalable sampling-based planning algorithm for multi-robot active information acquisition tasks in complex environments. Active information gathering scenarios include target localization and tracking, active SLAM, surveillance, ...
Sampling-Based Coverage Path Planning for Inspection of Complex Structures We present several new contributions in sampling-based coverage path planning, the task of finding feasible paths that give 100% sensor coverage of complex... B Englot,FS Hover 被引量: 42发表: 2014年 Reliable and Energy ...
The search space can be extremely large which cannot be exhaustively searched in near-real time for motion planning of autonomous vehicles. Hence, samples may be drawn out from the search space to reduce the volume of search space to a selected few samples only, and planning may be performed...
新鲜出炉的运动规划论文,Learning to Predict Ego-Vehicle Poses for Sampling-Based Nonholonomic Motion Planning,来自博世下属研究机构。 该文在技术上并没有太大创新,但是为解决non-holonomic机器人/汽车的运动规划问题提供了一个相当有趣的角度。针对对环境适应性和安全性要求极高的自动驾驶问题,基于采样的运动规划很...
Sampling-based planning primitives - 功能基元 文献:《Sampling-Based Robot Motion Planning: A Review -2014 》 Sampling采样: 该过程用于随机或准随机地选择一个配置,并将其添加到树或路线图中。如前所述,样本既可以在自由空间,也可以在障碍配置空间。它可以被认为是规划器的核心和SBP相对于其他技术的主要优势...
Sampling-Based Planning and Control Sampling-based planning and control - Branicky, Curtiss, et al. - 2003 () Citation Context ...from the space and pulling the tree towards them in an iterative manner. RRTs have been adapted for use in a discrete configuration ... MB Michael,MM Curtiss,...
RL agents are used to control the robot under the direction of planning, enabling long-range navigation 【RL通过其来规划方向?从而实现长距离,emmm 传统的PRM在这里的劣势是太长了规划时间太长嘛?那RL的学习也不见得很快...】 I. Introduction
We consider the problem of leveraging prior experience to generate roadmaps in sampling-based motion planning. A desirable roadmap is one that is sparse, allowing for fast search, with nodes spread out at key locations such that a low- cost feasible path exists. An increasingly popular approach...
This article considers a path planning problem for a single fixed-wing aircraft performing a reconnaissance mission using EO (Electro-Optical) camera(s). A mathematical formulation of the general aircraft visual reconnaissance problem for static ground targets in terrain is given and it is shown, un...