4 papers
Learned Controllers for Agile Quadrotors in Pursuit-Evasion Games
Alejandro Sanchez Roncero, Yixi Cai, Olov Andersson +1
In this letter we study 1v1 quadrotor pursuit-evasion, where a pursuer and an evader are trained via reinforcement learning (RL) by competing against each other. Such adversarial s…
Progress Constraints for Reinforcement Learning in Behavior Trees
Finn Rietz, Mart KartaÅ¡ev, Petter Ãgren +1
Behavior Trees (BTs) provide a structured and reactive framework for decision-making, commonly used to switch between sub-controllers based on environmental conditions. Reinforceme…
SMaRCSim: Maritime Robotics Simulation Modules
Mart KartaÅ¡ev, David Dörner, Ãzer Ãzkahraman +3
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing befo…
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions
Alejandro Sánchez Roncero, Rafael I. Cabral Muchacho, Petter Ãgren
Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environmen…