Reinforcement Learning-Based Switching Controller for a Milliscale Robot in a Constrained Environment.
Abbas TariverdiUlysse Côté AllardKim MathiassenOle Jakob ElleHåvard KalvøyØrjan Grøttem MartinsenJim TorresenPublished in: IEEE Trans Autom. Sci. Eng. (2024)
Keyphrases
- mobile robot
- reinforcement learning
- real robot
- control architecture
- robotic systems
- mobile robotics
- navigation tasks
- real time
- motion control
- autonomous robots
- indoor environments
- simulated robot
- real environment
- robotic manipulator
- optimal control
- semi autonomous
- robot control
- humanoid robot
- path planning
- perceptual aliasing
- function approximation
- robotic agents
- dynamic environments
- biped walking
- control system
- home environment
- robot manipulators
- learning algorithm
- learning agent
- visual servoing
- robot navigation
- human robot interaction
- human users
- control strategy
- topological map
- sensory inputs
- unknown environments
- pid controller
- changing environment
- control algorithm
- multi robot
- state space
- central pattern generator