In this study, a novel end-to-end path planning algorithm based on deep reinforcement learning is proposed for aerial robots deployed in dense environments. The agent finds an obstacle-free way around the provided rough, global by only depending observations from forward-facing depth camera. A framework to train policy with capability of safely avoiding obstacles. Webots open-source robot simul...

In multi-agent reinforcement learning, the cooperative learning behavior of agents is very important. field heterogeneous among different types in a group pursued. Learning joint-action set during centralized training an attractive way to obtain such behavior; however, this method brings limited performance with agents. To improve training, two-stage which allows multiple roles proposed. During...

We consider the problem of dynamic selfreconfiguration in a modular self-reconfigurable robot (MSR). Previous MSR self-reconfiguration approaches search for new configurations only within the modules of the MSR that needs reconfiguration. In contrast, we describe a technique where an MSR that needs to reconfigure communicates with other MSRs in its vicinity to determine if modules can be shared...

This paper presents an experiment in collective robotics in which a group of autonomous robots searches for an infrared target beacon placed in a corner of the exploration area. This task is a more experimentally tractable version of the plume tracing problem, in which robots search for the source of an odor plume. Two di erent exploration strategies (collaborative and non-collaborative) are im...

A central problem in multi-robot systems is to solve the multi-robot task allocation problem. In this paper, a decentralized stochastic model based on stochastic queueing processes is applied for an application of collective detection of underground landmines where the robots are not told the distribution or number of landmines to be encountered in the environment. Repeat demands of inspection ...

В роботі розглянуто проблему визначення довжини оптимального маршруту, який дозволить виконати огляд території за найкоротший час, що важливо у разі виконання моніторингу лісів, річок, транспорту, будівель, сільськогосподарських угідь, підрахунку об’єктів тощо. Для вирішення цієї проблеми запропоновано використання безпілотних літальних апаратів та різні методи оптимізації серед яких можна виді...

Incorporating a dynamic kick engine that is both fast and effective is pivotal to be competitive in one of the world’s biggest AI and robotics initiative: RoboCup. Using the NAO robot as a testbed, we developed a dynamic kick engine that can generate a kick trajectory with an arbitrary direction without prior input or knowledge of the parameters of the kick. The trajectories are generated using...