2 papers
cs.RO2024
Safe Reinforcement Learning Filter for Multicopter Collision-Free Tracking under disturbances
Qihan Qi, Xinsong Yang, Gang Xia
This paper proposes a safe reinforcement learning filter (SRLF) to realize multicopter collision-free trajectory tracking with input disturbance. A novel robust control barrier fun…
cs.AI2024
A Safety Modulator Actor-Critic Method in Model-Free Safe Reinforcement Learning and Application in UAV Hovering
Qihan Qi, Xinsong Yang, Gang Xia +2
This paper proposes a safety modulator actor-critic (SMAC) method to address safety constraint and overestimation mitigation in model-free safe reinforcement learning (RL). A safet…