% acknowledgements

I would like to thank my advisor, Francesco Marino, for his consistent feedback sessions, guidance, and patience. I also extend my gratitude to Prof. Giorgio Guglieri for allowing me to pursue my passion and conduct research in Path Planning and Reinforcement Learning.

I'd like to express my appreciation to my friends, Ahmad Moori, Mohammad Andayesh, and Masoud Arabbeiki, for their practical and emotional support. Lastly, I want to express deep appreciation for my parents and brothers for believing in me, which kept my motivation high throughout my master’s degree journey.

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    \textit{Afshin}
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