Motion Planning with Energy Reduction for a Floating Robotic Platform Under Disturbances and Measurement Noise Using Reinforcement Learning

Konstantinos Tziortziotis, Nikolaos Tziortziotis, Kostas Vlachos, Konstantinos Blekas

Abstract: This paper investigates the use of reinforcement learning for the navigation of an over-actuated, i.e. more control inputs than degrees of freedom, marine platform in unknown environment. The propo...