Constrained Reinforcement Learning for Vehicle Motion Planning with Topological Reachability Analysis.
Shangding GuGuang ChenLijun ZhangJing HouYingbai HuAlois C. KnollPublished in: Robotics (2022)
Keyphrases
- motion planning
- reachability analysis
- markov decision processes
- reinforcement learning
- state space
- kinematic model
- degrees of freedom
- path planning
- trajectory planning
- robot arm
- model checking
- mobile robot
- optimal policy
- humanoid robot
- robotic tasks
- finite state
- real time
- robotic arm
- function approximation
- multi robot
- policy iteration
- mechanical systems
- timed automata
- incremental algorithms
- partially observable
- obstacle avoidance
- autonomous mobile robot
- dynamic programming
- average cost
- multi modal
- computer vision
- planning under uncertainty
- optimal control
- learning algorithm
- object recognition
- configuration space
- action space
- real robot
- infinite horizon
- dynamic environments