SafeSwarm applies MAPPO to multi-drone landing with obstacle avoidance, reporting 2.25 cm error in five real-world flights, but the claimed safety barrier algorithm is not described.
Distributionally robust risk map for learning- based motion planning and control: A semidefinite programming ap- proach,
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SafeSwarm: Decentralized Safe RL for the Swarm of Drones Landing in Dense Crowds
SafeSwarm applies MAPPO to multi-drone landing with obstacle avoidance, reporting 2.25 cm error in five real-world flights, but the claimed safety barrier algorithm is not described.