Blar i Institutt for teknisk kybernetikk på tidsskrift "Frontiers in Robotics and AI"
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Comparing Deep Reinforcement Learning Algorithms’ Ability to Safely Navigate Challenging Waters
(Peer reviewed; Journal article, 2021)Reinforcement Learning (RL) controllers have proved to effectively tackle the dual objectives of path following and collision avoidance. However, finding which RL algorithm setup optimally trades off these two tasks is not ... -
Deep Reinforcement Learning Controller for 3D Path-following and Collision Avoidance by Autonomous Underwater Vehicles
(Peer reviewed; Journal article, 2020)In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an ... -
Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles
(Journal article; Peer reviewed, 2019)This work presents the results of an experimental verification of a coordinated path following strategy for underactuated marine vehicles. The coordinated path following strategy is presented, and is then experimentally ... -
Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17
(Journal article; Peer reviewed, 2020)This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13–17 of the International Regulations for Preventing Collisions at Sea (COLREGs). ... -
Improvement of a Robotic Manipulator Model Based on Multivariate Residual Modeling
(Journal article; Peer reviewed, 2017)A new method is presented for extending a dynamic model of a six degrees of freedom robotic manipulator. A non-linear multivariate calibration of input–output training data from several typical motion trajectories is carried ... -
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
(Journal article; Peer reviewed, 2019)The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ... -
Reinforcement Learning-Based Tracking Control of USVs in Varying Operational Conditions
(Peer reviewed; Journal article, 2020)We present a reinforcement learning-based (RL) control scheme for trajectory tracking of fully-actuated surface vessels. The proposed method learns online both a model-based feedforward controller, as well an optimizing ... -
Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results
(Journal article; Peer reviewed, 2016)Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority ...