4 papers
Safe Policy Exploration Improvement via Subgoals
Brian Angulo, Gregory Gorbov, Aleksandr Panov +1
Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals w…
Evaluation of Safety Constraints in Autonomous Navigation with Deep Reinforcement Learning
Brian Angulo, Gregory Gorbov, Aleksandr Panov +1
While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems withou…
Policy Optimization to Learn Adaptive Motion Primitives in Path Planning with Dynamic Obstacles
Brian Angulo, Aleksandr Panov, Konstantin Yakovlev
This paper addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles -- a challenging problem that lacks a u…
Augmenting GRIPS with Heuristic Sampling for Planning Feasible Trajectories of a Car-Like Robot
Brian Angulo, Konstantin Yakovlev, Ivan Radionov
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is…