Plot of some robot trajectories over several speed settings after training (IMAGE)
Caption
Plot of some robot trajectories over several speed settings after training. In the experiments, various speed settings were applied to the mobile robot (depicted as red circles) for three goal positions (depicted as green stars). The figure shows that employing the proposed framework, which schedules the range of the robot's linear velocity v in the training process (depicted by red lines), traces very similar trajectories when the robot is set at a slow speed (depicted by green lines).
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