Guo-Fu Tian

Short-Term Temporal Transformer Deep Reinforcement Learning with Dynamic-Window-Constrained Actions for LiDAR-Based Local Navigation

Local navigation in dynamic indoor environments is challenging, as a single 2-D LiDAR scan contains no obstacle motion information, and control commands must satisfy the robot’s velocity and acceleration constraints. This paper proposes ST-DRL, a value-based local planner combining a lightweight temporal Transformer en...