6 papers
Network Distributed Multi-Agent Reinforcement Learning for Consensus Control of Quadcopters
Youssef Mahran, Zeyad Gamal, Aamir Ahmad +1
This paper proposes a Network Distributed Multi-Agent Reinforcement Learning (ND-MARL) framework for quadcopter consensus control. Compared to conventional multi-agent MARL formula…
Dyna-Style Reinforcement Learning Modeling and Control of Non-linear Dynamics
Karim Abdelsalam, Zeyad Gamal, Ayman El-Badawy
Controlling systems with complex, nonlinear dynamics poses a significant challenge, particularly in achieving efficient and robust control. In this paper, we propose a Dyna-Style R…
A Lyapunov-based MPC for Distributed Multi Agent Systems with Time Delays and Packet Dropouts using Hidden Markov Models
Loaie Solyman, Aamir Ahmad, Ayman El-Badawy
We propose a SCHMM LMPC framework, integrating Semi Continuous Hidden Markov Models with Lyapunov based Model Predictive Control, for distributed optimal control of multi agent sys…
Dynamic Entropy Tuning in Reinforcement Learning Low-Level Quadcopter Control: Stochasticity vs Determinism
Youssef Mahran, Zeyad Gamal, Ayman El-Badawy
This paper explores the impact of dynamic entropy tuning in Reinforcement Learning (RL) algorithms that train a stochastic policy. Its performance is compared against algorithms th…
Reinforcement Learning Position Control of a Quadrotor Using Soft Actor-Critic (SAC)
Youssef Mahran, Zeyad Gamal, Ayman El-Badawy
This paper proposes a new Reinforcement Learning (RL) based control architecture for quadrotors. With the literature focusing on controlling the four rotors' RPMs directly, this pa…
Control of a Twin Rotor using Twin Delayed Deep Deterministic Policy Gradient (TD3)
Zeyad Gamal, Youssef Mahran, Ayman El-Badawy
This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracki…