Robust Unmanned Surface Vehicle Navigation with Distributional Reinforcement Learning
Xi Lin,John McConnell,Brendan Englot,Xi Lin,John McConnell,Brendan Englot
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensor-based navigation problem in such environments under no prior knowledge of the current flow and obstacles. We propose a Distributional Reinforcement Learning (RL) based local path planner that learns return distributions which capture the u...
