TR2023-049
Spectrum Sharing-inspired Safe Motion Planning
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- "Spectrum Sharing-inspired Safe Motion Planning", IEEE International Conference on Communications Workshops (ICC), May 2023.BibTeX TR2023-049 PDF
- @inproceedings{Kim2023may2,
- author = {Kim, Kyeong Jin and Vinod, Abraham P. and Guo, Jianlin and Deshpande, Vedang M. and Parsons, Kieran},
- title = {Spectrum Sharing-inspired Safe Motion Planning},
- booktitle = {IEEE International Conference on Communications Workshops (ICC)},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-049}
- }
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- "Spectrum Sharing-inspired Safe Motion Planning", IEEE International Conference on Communications Workshops (ICC), May 2023.
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MERL Contacts:
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Research Areas:
Artificial Intelligence, Computational Sensing, Machine Learning, Optimization, Signal Processing
Abstract:
In this paper, the problem of safe motion planning of the mobile agent in the presence of multiple static obstacles is investigated. In addition to the collision avoidance, an additional objective of joint minimizing the energy consumption for con- trolling its dynamic movement and maximizing the instantaneous post-processing signal-to-noise ratio (ISNR) that determines the accessing capability of spectrum allocated to the licensed users is taken into account. Due to a non-existing system setup for single carrier transmissions in the spatial-temporal correlated frequency selective fading channel and non-existing feasible mathematical analysis to maximize the distribution of the ISNR over the energy conscious motion planning, we propose a model- free and off-policy soft actor critic (SAC) to learn and make an action by the mobile agent to achieve the following three objectives simultaneously from interactions with the environment: i) achieve the safe motion planning that avoids collision with the static obstacles; ii) minimize the control energy consumption; and iii) maximize the ISNR. Simulation results verify that these three objectives can be achieved efficiently by the proposed SAC-based safe motion planning.
Related News & Events
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NEWS MERL Researchers Present Thirteen Papers at the 2023 IEEE International Conference on Robotics and Automation (ICRA) Date: May 29, 2023 - June 2, 2023
Where: 2023 IEEE International Conference on Robotics and Automation (ICRA)
MERL Contacts: Anoop Cherian; Radu Corcodel; Siddarth Jain; Devesh K. Jha; Toshiaki Koike-Akino; Tim K. Marks; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres
Research Areas: Computer Vision, Machine Learning, Optimization, RoboticsBrief- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.
In addition to the paper presentations, MERL robotics researchers will also host an exhibition booth and look forward to discussing our research with visitors.
- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.