Lyapunov Constrained Safe Reinforcement Learning for Multicopter Visual Servoing
Dafang Yu,Mengxin Xu,Zhe Liu,Hesheng Wang,Dafang Yu,Mengxin Xu,Zhe Liu,Hesheng Wang
Traditional methods based on Lyapunov analysis and learning-based approaches such as reinforcement learning (RL) are two powerful tools in visual servo tasks. Traditional methods are interpretable and their stability can be guar-anteed by Lyapunov analysis. However, they tend to have a high dependency on an accurate system dynamic model. RL approaches learn to act based on past experiences and thu...
