Titre :

Reinforcement-learning robotic sailboats: simulator and preliminary results

Auteur(s) :

Vasconcellos, Eduardo [Auteur]
Universidade Federal Fluminense [Rio de Janeiro] [UFF]
Inria Lille - Nord Europe
Sampaio, Ronald [Auteur]
Araújo, André [Auteur]
Universidade Federal Fluminense [Rio de Janeiro] [UFF]
Inria Lille - Nord Europe
Gonzales Clua, Esteban [Auteur]
Fluminense Federal University [Niterói]
Preux, Philippe [Auteur]
Scool [Scool]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Université de Lille
Guerra, Raphael [Auteur]
Gonçalves, Luiz [Auteur]
Universidade Federal do Rio Grande do Norte [Natal] [UFRN]
Martí, Luis [Auteur]
Inria Chile
Lira, Hernan [Auteur]
Inria Chile
Sanchez-Pi, Nayat [Auteur]
Inria Chile

Titre de la manifestation scientifique :

NeurIPS 2023 Workshop on Robot Learning Workshop: Pretraining, Fine-Tuning, and Generalization with Large Scale Models

Ville :

New Orelans

Pays :

Etats-Unis d'Amérique

Date de début de la manifestation scientifique :

2023-12-11

Mot(s)-clé(s) en anglais :

artificial intelligence, reinforcement learning, unmanned surface vessel

Discipline(s) HAL :

Informatique [cs]/Intelligence artificielle [cs.AI]
Informatique [cs]/Apprentissage [cs.LG]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]

Résumé en anglais : [en]

This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building ...
Lire la suite >This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds, considering using Reinforcement Learning (RL) agents for autonomous navigation and control. With this in mind, the main problems concern the definition of the simulation equations (physics and mathematics), their effective implementation, and how to include strategies for simulated control and perception (sensors) to be used with RL. We present the modeling, implementation steps, and challenges required to create a functional digital twin based on a real robotic sailing vessel. The application is immediate for developing navigation algorithms based on RL to be applied on real boats.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL