通过过滤强化学习实现不确定性条件下无人机的分散、安全、多代理运动规划

IF 4.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS IEEE Transactions on Control Systems Technology Pub Date : 2024-08-06 DOI:10.1109/TCST.2024.3433229
Abraham P. Vinod;Sleiman Safaoui;Tyler H. Summers;Nobuyuki Yoshikawa;Stefano Di Cairano
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引用次数: 0

摘要

我们提出了一种分散式多代理运动规划器,它能保证团队在代理模型和环境随机不确定性条件下的概率安全。我们的可扩展方法使用现成的单个代理强化学习(RL)实时生成安全的运动计划,并通过分布稳健的凸优化和缓冲 Voronoi 单元实现安全。我们保证了平均轨迹的递归可行性,并利用安全的时间折扣减轻了保守性。我们在模拟中表明,与现有方法相比,我们的方法能生成安全且性能高的轨迹,并在使用无人机进行的物理实验中进一步验证了这些观察结果。
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Decentralized, Safe, Multiagent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning
We propose a decentralized, multiagent motion planner that guarantees the probabilistic safety of a team subject to stochastic uncertainty in the agent model and environment. Our scalable approach generates safe motion plans in real-time using off-the-shelf, single-agent reinforcement learning (RL) rendered safe using distributionally robust, convex optimization and buffered Voronoi cells. We guarantee the recursive feasibility of the mean trajectories and mitigate the conservativeness using a temporal discounting of safety. We show in simulation that our approach generates safe and high-performant trajectories as compared to existing approaches, and further validate these observations in physical experiments using drones.
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来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
期刊最新文献
2023-2024 Index IEEE Transactions on Control Systems Technology Vol. 32 Table of Contents Predictive Control for Autonomous Driving With Uncertain, Multimodal Predictions High-Speed Interception Multicopter Control by Image-Based Visual Servoing Real-Time Mixed-Integer Quadratic Programming for Vehicle Decision-Making and Motion Planning
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