CBF-informed rewards for multi-agent RL achieve higher task performance and lower sensitivity to hyperparameters than heuristic baselines in a simulated four-way intersection with connected automated vehicles.
Rajamani,Vehicle Dynamics and Control, ser
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Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles
CBF-informed rewards for multi-agent RL achieve higher task performance and lower sensitivity to hyperparameters than heuristic baselines in a simulated four-way intersection with connected automated vehicles.