A Dynamics-Aware DRL Framework for Adaptive AUV Trajectory Tracking and Obstacle Avoidance: Design and Digital-Twin Validation

This video is supporting material for my recently submitted paper "A Dynamics-Aware DRL Framework for Adaptive AUV Trajectory Tracking and Obstacle Avoidance: Design and Digital-Twin Validation".

Part I-1: Tracking Performance Comparison and Analysis: Stable-Attitude scheme

Part I-2: Tracking Performance Comparison and Analysis: Min-Error scheme

Part I-3: Tracking Performance Comparison and Analysis: PID scheme

Part I-4: Tracking Performance Comparison and Analysis: Non-Randomized scheme

Part II: Sim-to-Real Tracking and Local Obstacle-Avoidance Validation

Part III: Cross-platform Applicability to a Torpedo-shaped AUV