Barrier-Certified Adaptive Reinforcement Learning with Applications to Brushbot Navigation

29 Jan 2018Motoya OhnishiLi WangGennaro NotomistaMagnus Egerstedt

This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dynamics. To extract the dynamic structure of the model, we use a sparse optimization technique... (read more)

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