Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots
Xinglong Zhang,Yaoqian Peng,Wei Pan,Xin Xu,Haibin Xie,Xinglong Zhang,Yaoqian Peng,Wei Pan,Xin Xu,Haibin Xie
Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL) algorithms are promising for control policy design. However, ...
