Passing Through Narrow Gaps with Deep Reinforcement Learning
Brendan Tidd,Akansel Cosgun,Jürgen Leitner,Nicolas Hudson,Brendan Tidd,Akansel Cosgun,Jürgen Leitner,Nicolas Hudson
The DARPA subterranean challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing small gaps is one of the challenging scenarios that robots encounter. Imperfect sensor information makes it difficult for classical navigation methods, where behaviours require significant manual fine tuning. In this paper we present a deep reinforcement learning method ...
