In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an underactuated autonomous surface vehicle to follow an a priori known path while avoiding collisions with non-moving obstacles along the way. The artificial intelligent agent, which is equipped with multiple rangefinder sensors for obstacle detection, is trained and evaluated in a challenging, stochastically generated simulation environment based on the OpenAI gym python toolkit. Notably, the agent is provided with real-time insight into its own reward function, allowing it to dynamically adapt its guidance strategy. Depending on its strategy, which ranges from radical pathadherence to radical obstacle avoidance, the trained agent achieves an episodic success rate between 84 and 100%
Abstract. The implementation and performance of a class of divide-and-conquer algorithms for computing the spectral decomposition of nonsymmetric matrices on distributed memory parallel computers are studied in this paper. After presenting a general framework, we focus on a spectral divide-and-conquer (SDC) algorithm with Newton iteration. Although the algorithm requires several times as many floating point operations as the best serial QR algorithm, it can be simply constructed from a small set of highly parallelizable matrix building blocks within Level 3 basic linear algebra subroutines (BLAS). Efficient implementations of these building blocks are available on a wide range of machines. In some ill-conditioned cases, the algorithm may lose numerical stability, but this can easily be detected and compensated for.The algorithm reached 31% efficiency with respect to the underlying PUMMA matrix multiplication and 82% efficiency with respect to the underlying ScaLAPACK matrix inversion on a 256 processor Intel Touchstone Delta system, and 41% efficiency with respect to the matrix multiplication in CMSSL on a 32 node Thinking Machines CM-5 with vector units. Our performance model predicts the performance reasonably accurately.To take advantage of the geometric nature of SDC algorithms, we have designed a graphical user interface to let the user choose the spectral decomposition according to specified regions in the complex plane.
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