4 papers
Safe Exploration in Reinforcement Learning: Training Backup Control Barrier Functions with Zero Training Time Safety Violations
Pedram Rabiee, Amirsaeid Safari
This paper introduces the reinforcement learning backup shield (RLBUS), an algorithm that guarantees safe exploration in reinforcement learning (RL) by incorporating backup control…
Guaranteed-Safe MPPI Through Composite Control Barrier Functions for Efficient Sampling in Multi-Constrained Robotic Systems
Pedram Rabiee, Jesse B. Hoagg
We present a new guaranteed-safe model predictive path integral (GS-MPPI) control algorithm that enhances sample efficiency in nonlinear systems with multiple safety constraints. T…
Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints
Pedram Rabiee, Jesse B. Hoagg
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control si…
A Closed-Form Control for Safety Under Input Constraints Using a Composition of Control Barrier Functions
Pedram Rabiee, Jesse B. Hoagg
We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multi…