최신 논문 · PyTorchKR Papers

arXiv:2409.16720공식 코드 · Papers with Code 등록 2024-09-25

Dashing for the Golden Snitch: Multi-Drone Time-Optimal Motion Planning with Multi-Agent Reinforcement Learning

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 have achieved time-optimal motion planning for multi-drone systems, particularly during highly agile maneuvers or in dynamic scenarios. This paper presents a decentralized policy network using multi-agent reinforcement learning for time-optimal multi-drone flight. To strike a balance between flight efficiency and collision avoidance, we introduce a soft collision-free mechanism inspired by optimization-based methods. By customizing PPO in a centralized training, decentralized execution (CTDE) fashion, we unlock higher efficiency and stability in training while ensuring lightweight implementation. Extensive simulations show that, despite slight performance trade-offs compared to single-drone systems, our multi-drone approach maintains near-time-optimal performance with a low collision rate. Real-world experiments validate our method, with two quadrotors using the same network as in simulation achieving a maximum speed of 13.65 m/s and a maximum body rate of 13.4 rad/s in a 5.5 m * 5.5 m * 2.0 m space across various tracks, relying entirely on onboard computation.

arXiv 원문 상세

arXiv:2006.04361공식 코드 · Papers with Code 등록 2020-06-08

Neural Contraction Metrics for Robust Estimation and Control: A Convex Optimization Approach

This paper presents a new deep learning-based framework for robust nonlinear estimation and control using the concept of a Neural Contraction Metric (NCM). The NCM uses a deep long short-term memory recurrent neural network for a global approximation of an optimal contraction metric, the existence of which is a necessary and sufficient condition for exponential stability of nonlinear systems. The optimality stems from the fact that the contraction metrics sampled offline are the solutions of a convex optimization problem to minimize an upper bound of the steady-state Euclidean distance between perturbed and unperturbed system trajectories. We demonstrate how to exploit NCMs to design an online optimal estimator and controller for nonlinear systems with bounded disturbances utilizing their duality. The performance of our framework is illustrated through Lorenz oscillator state estimation and spacecraft optimal motion planning problems.

arXiv 원문 상세