scholarly journals Design of a Reinforcement Learning-Based Lane Keeping Planning Agent for Automated Vehicles

2020 ◽  
Vol 10 (20) ◽  
pp. 7171
Author(s):  
Bálint Kővári ◽  
Ferenc Hegedüs ◽  
Tamás Bécsi
Keyword(s):  
Reinforcement Learning ◽  
Real Time ◽  
Autonomous Vehicles ◽  
High Performance ◽  
Search Algorithm ◽  
Tree Search ◽  
Monte Carlo Tree Search ◽  
Learning Agents ◽  
Combined Solution ◽  
Lane Keeping

Reinforcement learning-based approaches are widely studied in the literature for solving different control tasks for Connected and Autonomous Vehicles, from which this paper deals with the problem of lateral control of a dynamic nonlinear vehicle model, performing the task of lane-keeping. In this area, the appropriate formulation of the goals and environment information is crucial, for which the research outlines the importance of lookahead information, enabling to accomplish maneuvers with complex trajectories. Another critical part is the real-time manner of the problem. On the one hand, optimization or search based methods, such as the presented Monte Carlo Tree Search method, can solve the problem with the trade-off of high numerical complexity. On the other hand, single Reinforcement Learning agents struggle to learn these tasks with high performance, though they have the advantage that after the training process, they can operate in a real-time manner. Two planning agent structures are proposed in the paper to resolve this duality, where the machine learning agents aid the tree search algorithm. As a result, the combined solution provides high performance and low computational needs.

scholarly journals Enhanced Reinforcement Learning Method Combining One-Hot Encoding-Based Vectors for CNN-Based Alternative High-Level Decisions

2021 ◽  
Vol 11 (3) ◽  
pp. 1291
Author(s):  
Bonwoo Gu ◽  
Yunsick Sung
Keyword(s):  
Reinforcement Learning ◽  
Search Algorithm ◽  
Classification Criteria ◽  
Tree Search ◽  
Learning Method ◽  
Board Game ◽  
Ancient China ◽  
Monte Carlo Tree Search ◽  
High Level ◽  
Tree Search Algorithm

Gomoku is a two-player board game that originated in ancient China. There are various cases of developing Gomoku using artificial intelligence, such as a genetic algorithm and a tree search algorithm. Alpha-Gomoku, Gomoku AI built with Alpha-Go’s algorithm, defines all possible situations in the Gomoku board using Monte-Carlo tree search (MCTS), and minimizes the probability of learning other correct answers in the duplicated Gomoku board situation. However, in the tree search algorithm, the accuracy drops, because the classification criteria are manually set. In this paper, we propose an improved reinforcement learning-based high-level decision approach using convolutional neural networks (CNN). The proposed algorithm expresses each state as One-Hot Encoding based vectors and determines the state of the Gomoku board by combining the similar state of One-Hot Encoding based vectors. Thus, in a case where a stone that is determined by CNN has already been placed or cannot be placed, we suggest a method for selecting an alternative. We verify the proposed method of Gomoku AI in GuPyEngine, a Python-based 3D simulation platform.

scholarly journals An Efficiency Enhancing Methodology for Multiple Autonomous Vehicles in an Urban Network Adopting Deep Reinforcement Learning

2021 ◽  
Vol 11 (4) ◽  
pp. 1514 ◽  
Author(s):  
Quang-Duy Tran ◽  
Sang-Hoon Bae
Keyword(s):  
Reinforcement Learning ◽  
Traffic Congestion ◽  
Autonomous Vehicles ◽  
Penetration Rate ◽  
Autonomous Vehicle ◽  
Effective Means ◽  
Urban Network ◽  
Learning Agents ◽  
Policy Optimization ◽  
The Impact

To reduce the impact of congestion, it is necessary to improve our overall understanding of the influence of the autonomous vehicle. Recently, deep reinforcement learning has become an effective means of solving complex control tasks. Accordingly, we show an advanced deep reinforcement learning that investigates how the leading autonomous vehicles affect the urban network under a mixed-traffic environment. We also suggest a set of hyperparameters for achieving better performance. Firstly, we feed a set of hyperparameters into our deep reinforcement learning agents. Secondly, we investigate the leading autonomous vehicle experiment in the urban network with different autonomous vehicle penetration rates. Thirdly, the advantage of leading autonomous vehicles is evaluated using entire manual vehicle and leading manual vehicle experiments. Finally, the proximal policy optimization with a clipped objective is compared to the proximal policy optimization with an adaptive Kullback–Leibler penalty to verify the superiority of the proposed hyperparameter. We demonstrate that full automation traffic increased the average speed 1.27 times greater compared with the entire manual vehicle experiment. Our proposed method becomes significantly more effective at a higher autonomous vehicle penetration rate. Furthermore, the leading autonomous vehicles could help to mitigate traffic congestion.

scholarly journals Real-Time Monte Carlo Tree Search in Ms Pac-Man

2014 ◽  
Vol 6 (3) ◽  
pp. 245-257 ◽  
Author(s):  
Tom Pepels ◽  
Mark H. M. Winands ◽  
Marc Lanctot
Keyword(s):  
Monte Carlo ◽  
Real Time ◽  
Tree Search ◽  
Monte Carlo Tree Search

scholarly journals Towards efficient discovery of green synthetic pathways with Monte Carlo tree search and reinforcement learning

2020 ◽  
Vol 11 (40) ◽  
pp. 10959-10972
Author(s):  
Xiaoxue Wang ◽  
Yujie Qian ◽  
Hanyu Gao ◽  
Connor W. Coley ◽  
Yiming Mo ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Reinforcement Learning ◽  
Prediction Model ◽  
Tree Search ◽  
Monte Carlo Tree Search ◽  
Value Network ◽  
Synthesis Routes

A new MCTS variant with a reinforcement learning value network and solvent prediction model proposes shorter synthesis routes with greener solvents.

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