Yanzhou Li

High-Precision Formation Control for Heterogeneous Multi-Robot Systems via Hierarchical Hybrid Physics-Informed Deep Reinforcement Learning

Yanzhou Li, Guangli Chen, Xiao-Meng Li, Wenjian Zhong, Yongkang Lu, Shenghuang He

Existing classical control methods commonly require precise models and struggle to cope with model uncertainties and external disturbances, while end-to-end reinforcement learning (RL) approaches suffer from low sample efficiency and poor convergence. To overcome these challenges…Read more