Active Object Detection Based on A Novel Deep Q-learning Network and Long-term Learning Strategy for Service Robot

Author(s):  
Shaopeng Liu ◽  
Guohui Tian ◽  
Ying Zhang ◽  
Mengyang Zhang ◽  
Shuo Liu
2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110121
Author(s):  
David Portugal ◽  
André G Araújo ◽  
Micael S Couceiro

To move out of the lab, service robots must reveal a proven robustness so they can be deployed in operational environments. This means that they should function steadily for long periods of time in real-world areas under uncertainty, without any human intervention, and exhibiting a mature technology readiness level. In this work, we describe an incremental methodology for the implementation of an innovative service robot, entirely developed from the outset, to monitor large indoor areas shared by humans and other obstacles. Focusing especially on the reliability of the fundamental localization system of the robot in the long term, we discuss all the incremental software and hardware features, design choices, and adjustments conducted, and show their impact on the performance of the robot in the real world, in three distinct 24-h long trials, with the ultimate goal of validating the proposed mobile robot solution for indoor monitoring.


Aerospace ◽  
2021 ◽  
Vol 8 (4) ◽  
pp. 113
Author(s):  
Pedro Andrade ◽  
Catarina Silva ◽  
Bernardete Ribeiro ◽  
Bruno F. Santos

This paper presents a Reinforcement Learning (RL) approach to optimize the long-term scheduling of maintenance for an aircraft fleet. The problem considers fleet status, maintenance capacity, and other maintenance constraints to schedule hangar checks for a specified time horizon. The checks are scheduled within an interval, and the goal is to, schedule them as close as possible to their due date. In doing so, the number of checks is reduced, and the fleet availability increases. A Deep Q-learning algorithm is used to optimize the scheduling policy. The model is validated in a real scenario using maintenance data from 45 aircraft. The maintenance plan that is generated with our approach is compared with a previous study, which presented a Dynamic Programming (DP) based approach and airline estimations for the same period. The results show a reduction in the number of checks scheduled, which indicates the potential of RL in solving this problem. The adaptability of RL is also tested by introducing small disturbances in the initial conditions. After training the model with these simulated scenarios, the results show the robustness of the RL approach and its ability to generate efficient maintenance plans in only a few seconds.


Author(s):  
Nikolay Atanasov ◽  
Bharath Sankaran ◽  
Jerome Le Ny ◽  
Thomas Koletschka ◽  
George J. Pappas ◽  
...  

2021 ◽  
Author(s):  
Danial Esmaeili Aliabadi ◽  
Katrina Chan

Abstract BackgroundAccording to sustainable development goals (SDGs), societies should have access to affordable, reliable, and sustainable energy. Deregulated electricity markets have been established to provide affordable electricity for end-users through advertising competition. Although these liberalized markets are expected to serve this purpose, they are far from perfect and are prone to threats, such as collusion. Tacit collusion is a condition, in which power generating companies (GenCos) disrupt the competition by exploiting their market power. MethodsIn this manuscript, a novel deep Q-network (DQN) model is developed, which GenCos can use to determine the bidding strategies to maximize average long-term payoffs using available information. In the presence of collusive equilibria, the results are compared with a conventional Q-learning model that solely relies on past outcomes. With that, this manuscript aims to investigate the impact of emerging DQN models on the establishment of collusive equilibrium in markets with repetitive interactions among players. Results and ConclusionsThe outcomes show that GenCos may be able to collude unintentionally while trying to ameliorate long-term profits. Collusive strategies can lead to exorbitant electric bills for end-users, which is one of the influential factors in energy poverty. Thus, policymakers and market designers should be vigilant regarding the combined effect of information disclosure and autonomous pricing, as new models exploit information more effectively.


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