Reinforcement-learning robotic sailboats: simulator and preliminary results

This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds, considering using Reinforcement Learning (RL) agents for autonomous navigation and control. With this in mind, the main problems concern the definition of the simulation equations (physics and mathematics), their effective implementation, and how to include strategies for simulated control and perception (sensors) to be used with …

agents autonomous building challenges control cs.ai cs.lg cs.ro digital digital twins environment features key mind navigation reinforcement reinforcement learning robotic surface the key twins vehicles virtual virtual worlds work