An RL-based drift motion planner with a predictive safety filter outperforms an MPC benchmark on tracking error and compute in simulation.
Simultaneous stabilization and tracking of basic automobile drifting trajectories,
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Safe Reinforcement Learning with a Predictive Safety Filter for Motion Planning and Control: A Drifting Vehicle Example
An RL-based drift motion planner with a predictive safety filter outperforms an MPC benchmark on tracking error and compute in simulation.