Formation Control for Moving Target Enclosing via Relative Localization

no code implementations • 28 Jul 2023 • Xueming Liu, Kunda Liu, Tianjiang Hu, Qingrui Zhang

Based on the generation strategy of desired formation pattern and relative localization estimates, a cooperative formation tracking control scheme is proposed, which enables the formation geometric center to asymptotically converge to the moving target.

EASpace: Enhanced Action Space for Policy Transfer

1 code implementation • 7 Dec 2022 • Zheng Zhang, Qingrui Zhang, Bo Zhu, Xiaohan Wang, Tianjiang Hu

In this paper, a novel algorithm named EASpace (Enhanced Action Space) is proposed, which formulates macro actions in an alternative form to accelerate the learning process using multiple available sub-optimal expert policies.

Q-Learning Transfer Learning

Multi-robot Cooperative Pursuit via Potential Field-Enhanced Reinforcement Learning

no code implementations • 9 Mar 2022 • Zheng Zhang, Xiaohan Wang, Qingrui Zhang, Tianjiang Hu

It is shown by numerical simulations that the proposed hybrid design outperforms the pursuit policies either learned from vanilla reinforcement learning or designed by the potential field method.

reinforcement-learning Reinforcement Learning (RL)