Publications related to A Comparison of PSO and Reinforcement Learning for Multi-Robot Obstacle Avoidance

Related publications (52)

A Bio-Inspired Learning and Control Framework for Cross-Embodiment and Cross-Task Locomotion

Animals exhibit remarkable locomotion skills despite significant sensorimotor delays and operating in uncertain environments. Moreover, mammals acquire these skills within minutes of birth. From the Cambrian explosion to the present day, vertebrate motor c ...

EPFL2025

A data-efficient and general-purpose hand–eye calibration method for robotic systems using next best view

Sichao Liu

Calibration between robots and cameras is critical in automated robot vision systems. However, conventional manually conducted image-based calibration techniques are often limited by their accuracy sensitivity and poor adaptability to dynamic or unstructur ...

2025

Scalable Multi-agent Reinforcement Learning for Residential Load Scheduling Under Data Governance

Zhaoming Qin

As a data-driven approach, multi-agent reinforcement learning (MARL) has made remarkable advances in solving cooperative residential load scheduling problems. However, centralized training, the most common paradigm for MARL, limits large-scale deployment i ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2025

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Sequential Reasoning with Socially Caused Beliefs

Mert Kayaalp

Machine learning and artificial intelligence methods have achieved remarkable success, matching and even surpassing human capabilities in various complex tasks. However, many demonstrations have generally neglected a critical part of the intelligence that ...

EPFL2025

Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

2024

Computational design of complex protein folds and soluble analogs of membrane proteins

Casper Alexander Goverde

Proteins are the molecular machines of life, driving essential biological processes such as enzymatic catalysis, cellular signaling, and immune responses. The ability to design entirely new proteins with desired structures and functions has immense implica ...

EPFL2025

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Francesco Mondada, Vaios Papaspyros

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

2024

Overcoming Distribution Shifts and Imbalance Challenges in Representation Learning for Deep Regression Models

Ismail Nejjar

Deep learning has shown remarkable potential for industrial applications, particularly in predictive maintenance and condition monitoring. A key challenge in this domain is prognostics, specifically predicting the Remaining Useful Life (RUL) of assets - a ...

EPFL2025

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Investigating neural resource allocation in the sensorimotor control of extra limbs

Giulia Dominijanni

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

EPFL2024

Experimental assessment, design, and control of compliance in dexterous robotic hands

Kai Christian Junge

The ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

EPFL2025

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Alcherio Martinoli, Wanting Jin

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

2024

Intact reinforcement learning in healthy ageing

Michael Herzog, Wei-Hsiang Lin

What changes with age? Results in reinforcement learning (RL) are mixed. Some studies found deteriorated RL performance in older participants compared to younger controls whereas other studies did not. Daniel et al. (J Neurosci 40(5):1084–1096, 2020. 10.15 ...

2025

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Chiara Ercolani

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Boosting Resource-Constrained Federated Learning Systems with Guessed Updates

Mohamed Yassine Boukhari, Anne-Marie Kermarrec, Rafael Pereira Pires, Rishi Sharma, Akash Balasaheb Dhasade

Federated learning (FL) enables a set of client devices to collaboratively train a model without sharing raw data. This process, though, operates under the constrained computation and communication resources of edge devices. These constraints combined with ...

Institute of Electrical and Electronics Engineers (IEEE)2025

Learning to Reason with Neural Networks: Principles and Methods

Aryo Lotfi Jandaghi

This thesis focuses on understanding and improving the reasoning capabilities of neural networks. It develops theoretical results and empirical analyses to uncover reasoning potential and limitations, leveraging these insights to guide the design of improv ...

EPFL2025

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Dark Noise Diffusion: Noise Synthesis for Low-Light Image Denoising

Liying Lu, Raphaël Wan-Li Marc Achddou, Sabine Süsstrunk

Low-light photography produces images with low signal-to-noise ratios due to limited photons. In such conditions, common approximations like the Gaussian noise model fall short, and many denoising techniques fail to remove noise effectively. Although deep- ...

2025

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024