Vicente Sufán

Swim4Real: Deep Reinforcement Learning-Based Energy-Efficient and Agile 6-DOF Control for Underwater Vehicles

Unmanned underwater vehicles (UUVs) require precise and energy-efficient six-degrees-of-freedom (6-DOF) control to operate in complex underwater environments for long periods of time. Traditional controllers, like Proportional-Integral- Derivative (PID), struggle with nonlinear dynamics, while Model