Benutzer: Gast  Login
Titel:

Ensuring Safety of Learning-Based Motion Planners Using Control Barrier Functions

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Xiao Wang
Abstract:
Reinforcement learning (RL) has been successfully applied to sequential decision-making problems, e.g., playing computer games or solving robotic tasks in simulations. However, RL methods are not yet ready to be applied to real robotic systems if safety is a major concern. To address this issue, we propose a safety layer based on control barrier functions to ensure safety for an RL-based motion planner for highway scenarios with a continuous action space. Our method ensures legal safety by follo...     »
Zeitschriftentitel:
IEEE Robotics and Automation Letters
Jahr:
2022
Volltext / DOI:
doi:10.1109/LRA.2022.3152313
 BibTeX