Obtaining Robust Control and Navigation Policies for Multi-Robot Navigation via Deep Reinforcement Learning

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw sensor data to the command velocities of the agent. In order to enable the policy to generalize, the training is performed in different environments and scenarios. The learned policy is tested and evaluated in common multi-robot scenarios like switching a place, an intersection and a bottleneck situation. This policy allows the agent to recover from dead ends and to navigate through complex environments.Comment: 13 page

NFDMLab: Simulating nonlinear frequency division multiplexing in Python

Fiber-optic transmission based on nonlinear frequency division multiplexing (NFDM) has received much attention in recent years. We introduce NFDMLab, an open source software package for simulating NFDM transmissions written in the Python language.Accepted Author ManuscriptTeam Sander Wahl

Ein Konzept für ein blockchain-basiertes Cyber-Physisches Produktionssystem

This contribution evaluates the feasibility of blockchain technology for processes of a cyber-physical production system (CPPS) using a decision framework. The evaluation is based on an implemented CPPS use case. Opportunities for the use of smart contracts are identified and two exemplary smart contracts are designed. To integrate the heterogeneous and resource-constrained IoT devices of a CPPS, three levels of connection to the blockchain are identified and applied to the use case. This work contributes to the implementation of an extensive blockchain-based CPPS.Dieser Beitrag evaluiert den Einsatz der Blockchain-Technologie für Prozesse eines cyber-physischen Produktionssystems (CPPS) anhand eines Entscheidungsrahmens. Die Evaluation basiert auf einem bestehenden CPPS Anwendungsfall. Es werden Möglichkeiten für den Einsatz von Smart Contracts identifiziert und zwei beispielhafte Smart Contracts entworfen. Um die heterogenen und ressourcen-beschränkten IoT-Geräte eines CPPS zu integrieren, werden drei Ebenen der Anbindung an die Blockchain identifiziert und auf den Anwendungsfall angewendet. Diese Arbeit trägt zur Implementierung eines umfangreichen blockchain-basierten CPPS bei