TY - GEN
T1 - Real-time learning for THZ radar mapping and UAV control
AU - Guerra, Anna
AU - Guidi, Francesco
AU - Dardari, Davide
AU - Djuric, Petar M.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/11
Y1 - 2021/8/11
N2 - In this paper we consider a joint detection, mapping and navigation problem by an unmanned aerial vehicle (UAV) with real-time learning capabilities. We formulate this problem as a Markov decision process (MDP), where the UAV is equipped with a THz radar capable to electronically scan the environment with high accuracy and to infer its probabilistic occupancy map. The navigation task amounts to maximizing the desired mapping accuracy and coverage and to decide whether targets (e.g., people carrying radio devices) are present or not. With the numerical results, we analyze the robustness of the considered Q-learning algorithm, and we discuss practical applications.
AB - In this paper we consider a joint detection, mapping and navigation problem by an unmanned aerial vehicle (UAV) with real-time learning capabilities. We formulate this problem as a Markov decision process (MDP), where the UAV is equipped with a THz radar capable to electronically scan the environment with high accuracy and to infer its probabilistic occupancy map. The navigation task amounts to maximizing the desired mapping accuracy and coverage and to decide whether targets (e.g., people carrying radio devices) are present or not. With the numerical results, we analyze the robustness of the considered Q-learning algorithm, and we discuss practical applications.
KW - Autonomous Navigation
KW - Q-learning
KW - Reinforcement Learning
KW - Unmanned Aerial Vehicles
UR - https://www.scopus.com/pages/publications/85114680560
U2 - 10.1109/ICAS49788.2021.9551141
DO - 10.1109/ICAS49788.2021.9551141
M3 - Conference contribution
AN - SCOPUS:85114680560
T3 - ICAS 2021 - 2021 IEEE International Conference on Autonomous Systems, Proceedings
BT - ICAS 2021 - 2021 IEEE International Conference on Autonomous Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Autonomous Systems, ICAS 2021
Y2 - 11 August 2021 through 13 August 2021
ER -