Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots.
Xinglong ZhangYaoqian PengWei PanXin XuHaibin XiePublished in: ICRA (2022)
Keyphrases
- formation control
- mobile robot
- robotic control
- reinforcement learning
- multi robot
- collision avoidance
- leader follower
- path planning
- receding horizon
- multi robot systems
- autonomous robots
- indoor environments
- real robot
- team formation
- autonomous navigation
- motion planning
- dynamic environments
- sliding mode
- state space
- real time
- robot navigation
- membership functions
- simultaneous localization and mapping
- variable structure
- dynamic programming
- learning algorithm
- neural network