Model-free Neural Lyapunov Control for Safe Robot Navigation
Zikang Xiong,Joe Eappen,Ahmed H. Qureshi,Suresh Jagannathan,Zikang Xiong,Joe Eappen,Ahmed H. Qureshi,Suresh Jagannathan
Model-free Deep Reinforcement Learning (DRL) controllers have demonstrated promising results on various challenging non-linear control tasks. While a model-free DRL algorithm can solve unknown dynamics and high-dimensional problems, it lacks safety assurance. Although safety constraints can be encoded as part of a reward function, there still exists a large gap between an RL controller trained wit...