کتاب صوتی کاربردهای پیشرفته یادگیری تقویتی چندعامله در اکتشاف فضایی و رباتیک ماه‌نورد

🎓 دوره آموزشی جامع

📚 اطلاعات دوره

عنوان دوره: دوره کاربردهای پیشرفته یادگیری تقویتی چندعامله در اکتشاف فضایی و رباتیک ماه‌نورد

موضوع کلی: یادگیری تقویتی چندعامله (MARL)

موضوع میانی: کاربردهای پیشرفته MARL

📋 سرفصل‌های دوره

• 1. Introduction to Multi-Agent Reinforcement Learning
• 2. Core concepts: agents, environments, rewards in MARL
• 3. Comparison of single-agent vs multi-agent RL
• 4. Overview of MARL algorithms: Q-learning, policy gradients
• 5. Centralized training with decentralized execution (CTDE)
• 6. Value-based MARL: VDN, QMIX
• 7. Policy-based MARL: MADDPG, COMA
• 8. Communication protocols in MARL
• 9. Handling partial observability in multi-agent settings
• 10. Exploration strategies for MARL
• 11. Credit assignment problems and solutions
• 12. Scalability challenges in large-scale MARL
• 13. Simulation environments for space robotics (Gazebo, ROS, etc.)
• 14. Modeling lunar terrain and lighting conditions
• 15. Dynamics of lunar rovers and manipulators
• 16. Sensor modeling: LIDAR, cameras, inertial units for MARL
• 17. Safety constraints and risk-aware MARL
• 18. Multi-objective MARL for mission success and resource conservation
• 19. Hierarchical MARL for high-level task decomposition
• 20. Curriculum learning for complex lunar missions
• 21. Transfer learning from terrestrial to lunar MARL agents
• 22. Domain adaptation techniques for varying lighting and dust
• 23. Multi-agent path planning on lunar surface
• 24. Cooperative localization and mapping (SLAM) with MARL
• 25. Distributed decision-making for rover convoys
• 26. Fault tolerance and recovery in MARL-driven rover teams
• 27. Energy-aware MARL for power-limited lunar operations
• 28. MARL for autonomous sample collection and analysis
• 29. MARL-driven autonomous drilling and excavation
• 30. Swarm robotics concepts applied to lunar exploration
• 31. Emergent behaviors in MARL lunar swarms
• 32. Communication latency and bandwidth constraints in MARL
• 33. Using mesh networks for inter-rover communication
• 34. Event-triggered communication to reduce bandwidth
• 35. MARL for autonomous habitat construction
• 36. MARL for in-situ resource utilization (ISRU) coordination
• 37. MARL-driven dust mitigation strategies
• 38. MARL for scientific experiment prioritization
• 39. Real-time MARL with edge computing on rovers
• 40. Low-latency inference optimization for MARL policies
• 41. Hardware-in-the-loop testing of MARL lunar rovers
• 42. Simulation-to-real (Sim2Real) transfer for lunar MARL
• 43. Safety verification and validation of MARL policies
• 44. Formal methods for verifying MARL lunar missions
• 45. Ethical considerations and planetary protection in MARL
• 46. MARL for autonomous navigation in permanently shadowed regions
• 47. MARL for navigating crater rims and steep slopes
• 48. MARL for teleoperation assistance and shared control
• 49. MARL for autonomous rendezvous and docking of lunar landers
• 50. MARL for coordinating orbiters and surface agents
• 51. MARL for space debris avoidance near lunar orbit
• 52. MARL for autonomous refueling and servicing missions
• 53. MARL for multi-modal perception fusion (vision, LIDAR, thermal)
• 54. MARL for adaptive locomotion (legged, wheeled, hybrid) on regolith
• 55. MARL for learning locomotion policies from demonstration
• 56. MARL for cooperative load carrying and manipulation
• 57. MARL for autonomous assembly of lunar structures
• 58. MARL for swarm-based seismic sensing networks
• 59. MARL for monitoring and predicting lunar dust storms
• 60. MARL for adaptive lighting compensation in imaging
• 61. MARL for long-duration mission planning and replanning
• 62. MARL for handling unexpected events (micrometeoroid impacts)
• 63. MARL for autonomous scientific hypothesis generation
• 64. MARL for multi-rover data fusion and decision making
• 65. MARL for swarm-based antenna array deployment
• 66. MARL for autonomous navigation using celestial navigation
• 67. MARL for integrating with ground station scheduling
• 68. MARL for fault detection and isolation (FDI) in rover subsystems
• 69. MARL for adaptive communication power control
• 70. MARL for end-to-end mission autonomy from launch to surface operations