PBRS-augmented RL trained in simple settings transfers zero-shot to complex UAV environments when wrapped with a CLF-CBF-QP safety filter, yielding shorter missions and formal safety guarantees.
Review of vision- based reinforcement learning for drone navigation: A. aburaya et al
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Zero-Shot, Safe and Time-Efficient UAV Navigation via Potential-Based Reward Shaping, Control Lyapunov and Barrier Functions
PBRS-augmented RL trained in simple settings transfers zero-shot to complex UAV environments when wrapped with a CLF-CBF-QP safety filter, yielding shorter missions and formal safety guarantees.