@inproceedings{011cd0f1b5364a8ebb2f45eb5504a836,
title = "Line-of-Sight Control of a Spherical Parallel Manipulator via Deep Reinforcement Learning",
abstract = "In this paper, controllers solving a rest-to-rest line-of-sight orientation problem are developed in a deep reinforcement learning framework and applied to a particular spherical parallel manipulator. Perfect kinematic information is assumed for the development and training of the neural networks. Extensive Monte Carlo simulations are performed to test the novel controllers in noisy environments and to compare their performances with an efficient unconstrained feedback controller. Results from an experiment with sole joint position readings are shown to validate the proposed control approach.",
keywords = "Deep reinforcement learning, Robotics, Spherical parallel manipulator",
author = "Aviram Yanover and Daniel Choukroun",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 19th IEEE Conference on Industrial Electronics and Applications, ICIEA 2024 ; Conference date: 05-08-2024 Through 08-08-2024",
year = "2024",
month = jan,
day = "1",
doi = "10.1109/ICIEA61579.2024.10665087",
language = "English",
series = "2024 IEEE 19th Conference on Industrial Electronics and Applications, ICIEA 2024",
publisher = "Institute of Electrical and Electronics Engineers",
booktitle = "2024 IEEE 19th Conference on Industrial Electronics and Applications, ICIEA 2024",
address = "United States",
}