Alexander Wasilkoff

HMARL-CBF – Hierarchical Multi-Agent Reinforcement Learning with Control Barrier Functions for Safety-Critical Autonomous Systems

We address the problem of safe policy learning in multi-agent safety-critical autonomous systems. In such systems, it is necessary for each agent to meet the safety requirements at all times while also cooperating with other agents to accomplish the task. Toward this end, we propose a safe Hierarchi…