Learning Observation-Based Certifiable Safe Policy for Decentralized Multi-Robot Navigation
Yuxiang Cui,Longzhong Lin,Xiaolong Huang,Dongkun Zhang,Yunkai Wang,Wei Jing,Junbo Chen,Rong Xiong,Yue Wang,Yuxiang Cui,Longzhong Lin,Xiaolong Huang,Dongkun Zhang,Yunkai Wang,Wei Jing,Junbo Chen,Rong Xiong,Yue Wang
Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor measurement. The optimizer takes action commands from the policy network as initial values and provides refinement to drive the potentially dangerous ones back into safe r...
