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Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Furthermore, we illustrate that the found linear model is able to provide guarantees by safety-critical optimal control framework, e. g., Model Predictive Control with Control Barrier Functions, on an example of autonomous navigation using Cassie while taking advantage of the agility provided by the RL-based controller.
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
A dual optimization problem is introduced to represent the minimum distance between polytopes and the Lagrangian function for the dual form is applied to construct a control barrier function.
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