Direct Adaptive Pole-Placement Controller using Deep Reinforcement Learning: Application to AUV Control

Benoit Clement (1, 2, 3, 4) , Thomas Chaffre (5, 3) , Gilles Le Chenadec (1) , Karl Sammut (4) , Estelle Chauveau (6)

1 Lab-STICC_MATRIX - Equipe Models and AlgoriThms for pRocessIng and eXtracting information
2 ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
3 CROSSING - FrenCh austRalian labOratory for humanS/autonomouS agents teamING
4 Flinders University [Adelaide, Australia]
5 STIC - Département STIC [Brest]
6 COALA - COntraintes, ALgorithmes et Applications

Domaines: Automatique / Robotique

Benoit Clement, Thomas Chaffre, Gilles Le Chenadec, Karl Sammut, Estelle Chauveau. Direct Adaptive Pole-Placement Controller using Deep Reinforcement Learning: Application to AUV Control. IFAC-PapersOnLine, 2021, 54 (16), pp.333-340. ⟨10.1016/j.ifacol.2021.10.113⟩. ⟨hal-03438286⟩