Model predictive control-based value estimation for efficient reinforcement learning

Reinforcement learning suffers from limitations in real practices primarily due to the numbers of required interactions with virtual environments. It results in a challenging problem that we are implausible to obtain an optimal strategy only with a few attempts for many learning method. Hereby, we design an improved reinforcement learning method based on model predictive control that models the environment through a data-driven approach. Based on learned environmental model, it performs multi-step prediction to estimate the value function and optimize the policy. The method demonstrates higher learning efficiency, faster convergent speed of strategies tending to the optimal value, and fewer sample capacity space required by experience replay buffers. Experimental results, both in classic databases and in a dynamic obstacle avoidance scenario for unmanned aerial vehicle, validate the proposed approaches

UAV Pathfinding in Dynamic Obstacle Avoidance with Multi-agent Reinforcement Learning

Multi-agent reinforcement learning based methods are significant for online planning of feasible and safe paths for agents in dynamic and uncertain scenarios. Although some methods like fully centralized and fully decentralized methods achieve a certain measure of success, they also encounter problems such as dimension explosion and poor convergence, respectively. In this paper, we propose a novel centralized training with decentralized execution method based on multi-agent reinforcement learning to solve the dynamic obstacle avoidance problem online. In this approach, each agent communicates only with the central planner or only with its neighbors, respectively, to plan feasible and safe paths online. We improve our methods based on the idea of model predictive control to increase the training efficiency and sample utilization of agents. The experimental results in both simulation, indoor, and outdoor environments validate the effectiveness of our method. The video is available at https://www.bilibili.com/video/BV1gw41197hV/?vd_source=9de61aecdd9fb684e546d032ef7fe7b

Ground state solutions for a quasilinear Kirchhoff type equation

We study the ground state solutions of the following quasilinear Kirchhoff type equation $$-\left(1+b\int_{\mathbb{R}^{3}}|\nabla u|^2dx\right)\Delta u + V(x)u-[\Delta(u^2)]u=|u|^{10}u+\mu |u|^{p-1}u,\qquad x\in \mathbb{R}^3,$$ where $b\geq 0$ and $\mu$ is a positive parameter. Under some suitable conditions on $V(x),$ we obtain the existence of ground state solutions of the above equation with $1<p<11.

Microfiber-based inline Mach-Zehnder interferometer for dual-parameter measurement

An approach to realizing simultaneous measurement of refractive index (RI) and temperature based on a microfiber-based dual inline Mach-Zehnder interferometer (MZI) is proposed and demonstrated. Due to different interference mechanisms, as one interference between the core mode and the lower order cladding mode in the sensing single-mode fiber and the other interference between the fundamental mode and the high-order mode in the multimode microfiber, the former interferometer achieves RI sensitivity of -23.67 nm/RIU and temperature sensitivity of 81.2 pm/oC, whereas those of the latter are 3820.23 nm/RIU, and -465.7 pm/oC, respectively. The large sensitivity differences can provide a more accurate demodulation of RI and temperature. The sensor is featured with multiparameters measurement, compact structure, high sensitivity, low cost, and easy fabrication

Refractive index sensitivity characteristics near the dispersion turning point of the multimode microfiber-based Mach–Zehnder interferometer

The turning point of the refractive index (RI) sensitivity based on the multimode microfiber (MMMF) in-line Mach–Zehnder interferometer (MZI) is observed. By tracking the resonant wavelength shift of the MZI generated between the HE11 and HE12 modes in the MMMF, the surrounding RI (SRI) could be detected. Theoretical analysis demonstrates that the RI sensitivity will reach ±∞ on either side of the turning point due to the group effective RI difference (퐺) approaching zero. Significantly, the positive sensitivity exists in a very wide fiber diameter range, while the negative sensitivity can be achieved in a narrow diameter range of only 0.3 μm. Meanwhile, the experimental sensitivities and variation trend at different diameters exhibit high consistency with the theoretical results. High RI sensitivity of 10777.8 nm/RIU (RI unit) at the fiber diameter of 4.6 μm and the RI around 1.3334 is realized. The discovery of the sensitivity turning points has great significance on trace detection due to the possibility of ultrahigh RI sensitivity

Graphene-assisted microfiber for optical-power-based temperature sensor

Combined the large evanescent field of microfiber with the high thermal conductivity of graphene, a sensitive all-fiber temperature sensor based on graphene-assisted micro fiber is proposed and experimentally demonstrated. Microfiber can be easily attached with graphene due to the electrostatic 6 force, resulting in an effective interaction between graphene and the evanescent field of microfiber. The change of the ambient temperature has a great influence on the conductivity of graphene, leading to the variation of the effective refractive index of microfiber. Consequently, the optical power transmission will be changed. The temperature sensitivity of 0.1018 dB/°C in the heating process and 0.1052 dB/°C in the cooling process as well as a high resolution of 0.0098 °C is obtained in the experiment. The scheme may have great potential in sensing fields owing to the advantages of high sensitivity, compact size, and low cost

Controllable group delay in a θ-shaped microfiber resonator with coupled-resonator-induced transparency

The control of Light velocity is theoretically and experimentally demonstrated in a θ-shaped microfiber resonator with coupled-resonator-induced transparency. By adjusting the structure parameters, group delays from -60ps to 200ps are achieved in the all-fiber resonator