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cs.RO2026
Rule-based High-Level Coaching for Goal-Conditioned Reinforcement Learning in Search-and-Rescue UAV Missions Under Limited-Simulation Training
Mahya Ramezani, Holger Voos
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation trai…
cs.RO2025
MPC-based Deep Reinforcement Learning Method for Space Robotic Control with Fuel Sloshing Mitigation
Mahya Ramezani, M. Amin Alandihallaj, BarıŠCan Yalçın +2
This paper presents an integrated Reinforcement Learning (RL) and Model Predictive Control (MPC) framework for autonomous satellite docking with a partially filled fuel tank. Tradi…
cs.RO2025
Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control
Anas Abdelkarim, Holger Voos, Daniel Görges
Factor graphs have demonstrated remarkable efficiency for robotic perception tasks, particularly in localization and mapping applications. However, their application to optimal con…