Behnaz Hadi

Hybrid Motion Planning and Formation Control of Multi-AUV Systems Based on DRL

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi

This paper presents a novel approach to planning and controlling the hybrid formation motion of a fleet of underactuated autonomous underwater vehicles (AUVs). The leader AUV performs end-to-end motion planning and obstacle avoidance using deep reinforcement learning (DRL). The followers, on the …

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Cooperative motion planning and control of a group of autonomous underwater vehicles using twin-delayed deep deterministic policy gradient

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi

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Adaptive Formation Motion Planning and Control of Autonomous Underwater Vehicles Using Deep Reinforcement Learning

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader–follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid obstacles while maintaining their desired formation shape. Most …

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Learning-based Integrated Cooperative Motion Planning and Control of Multi-AUVs

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi, B. Clément et autres

This paper introduces a learning-based solution tailored for the integrated motion planning and control of Multiple Autonomous Underwater Vehicles (AUVs). Tackling the complexities of cooperative motion planning, encompassing tasks such as waypoint tracking and self/obstacle collision avoidance, becomes challenging in a rule-based …

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Adaptive formation motion planning and control of autonomous underwater vehicles using deep reinforcement learning

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid obstacles while maintaining their desired formation shape. Most …

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Deep reinforcement learning for adaptive path planning and control of an autonomous underwater vehicle

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi

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A Review of the Path Planning and Formation Control for Multiple Autonomous Underwater Vehicles

Behnaz Hadi, Alireza Khosravi, Pouria Sarhadi

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RISE Feedback Control Design for RLED Robot Manipulator Using Bees Algorithm

Behnaz Hadi, Alireza Khosravi, Ranjbar Noei Abolfazl, Pouria Sarhadi

In this paper, a Robust Integral of the Sign Error (RISE) feedback controller is designed for a Rigid-Link Electrically Driven (RLED) robot manipulator actuated by direct current DC motor in presence of parametric uncertainties and additive disturbances. RISE feedback with implicitly learning …

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