Model-Reference Reinforcement Learning for Collision-Free Tracking Control of Autonomous Surface Vehicles

no code implementations • 17 Aug 2020 • Qingrui Zhang, Wei Pan, Vasso Reppa

This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance.

Collision Avoidance reinforcement-learning +1

Model-Reference Reinforcement Learning Control of Autonomous Surface Vehicles with Uncertainties

no code implementations • 30 Mar 2020 • Qingrui Zhang, Wei Pan, Vasso Reppa

With the conventional control, we can ensure the learning-based control law provides closed-loop stability for the overall system, and potentially increase the sample efficiency of the deep reinforcement learning.

Autonomous Vehicles reinforcement-learning +1