14 papers
A Graph-Based Reinforcement Learning Approach with Frontier Potential Based Reward for Safe Cluttered Environment Exploration
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee safety against potential collisions with unknown random obstacles. This pa…
A Survey on Data-Driven Models for Soil Moisture Regression and Classification
Ilektra Tsimpidi, George Georgoulas, Vidya Sumathy +1
Soil Moisture (SM) modelling constitutes a complex spatiotemporal learning problem characterised by nonlinear environmental interactions, heterogeneous data sources, and limited gr…
Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation
F. Labra Caso, V. Sumathy, P. Ferrentino +3
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadroto…
Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspect…
A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +1
Reinforcement learning (RL)-based quadrotor control policies have achieved impressive performance in tasks such as fast navigation in cluttered environments and drone racing, where…
Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadr…