Eunmi Choi

Bhaskar Prasad Rimal, Idris E. Putro, Agus Budiyono et al.

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks approach. This experiment develops a neural network model of the plant that we want to control. In the control design stage, experiment uses the neural network plant model to design (or train) the controller. We use Matlab to train the network and simulate the behavior. This chapter provides the mathematical overview of MRC technique and neural network architecture to simulate nonlinear identification of UAV systems. MRC provides a direct and effective method to control a complex system without an equation-driven model. NN approach provides a good framework to implement MEC by identifying complicated models and training a controller for it.

Seunghyeop Nam, Tuan Anh Nguyen, Eunmi Choi et al.

Autonomous robot exploration in large-scale or cluttered environments remains a central challenge in intelligent vehicle applications, where partial or absent prior maps constrain reliable navigation. This paper introduces FH-DRL, a novel framework that integrates a customizable heuristic function for frontier detection with a Twin Delayed DDPG (TD3) agent for continuous, high-speed local navigation. The proposed heuristic relies on an exponential-hyperbolic distance score, which balances immediate proximity against long-range exploration gains, and an occupancy-based stochastic measure, accounting for environmental openness and obstacle densities in real time. By ranking frontiers using these adaptive metrics, FH-DRL targets highly informative yet tractable waypoints, thereby minimizing redundant paths and total exploration time. We thoroughly evaluate FH-DRL across multiple simulated and real-world scenarios, demonstrating clear improvements in travel distance and completion time over frontier-only or purely DRL-based exploration. In structured corridor layouts and maze-like topologies, our architecture consistently outperforms standard methods such as Nearest Frontier, Cognet Frontier Exploration, and Goal Driven Autonomous Exploration. Real-world tests with a Turtlebot3 platform further confirm robust adaptation to previously unseen or cluttered indoor spaces. The results highlight FH-DRL as an efficient and generalizable approach for frontier-based exploration in large or partially known environments, offering a promising direction for various autonomous driving, industrial, and service robotics tasks.