Safe Unicycle Navigation Among Multiple Obstacles Under Bounded Disturbances: A Learning-Augmented CLF-CBF Approach (Extended Version)
eess.SY, cs.SY
Submitted: 2026-10-13
Updated: 2026-10-13
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- Safe Reinforcement Learning Filter for Multicopter Collision-Free Tracking under disturbances
- Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions
- Proximal Policy Optimization Algorithms
- High-Dimensional Continuous Control Using Generalized Advantage Estimation
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