Essays about: "Kontrollbarrierefunktionen"

Found 1 essay containing the word Kontrollbarrierefunktionen.

  1. 1. Improving Behavior Trees that Use Reinforcement Learning with Control Barrier Functions : Modular, Learned, and Converging Control through Constraining a Learning Agent to Uphold Previously Achieved Sub Goals

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Jannik Wagner; [2023]
    Keywords : Behavior Trees; Reinforcement Learning; Control Barrier Functions; Robotics; Artificial Intelligence; Verhaltensbäume; Verstärkendes Lernen; Kontrollbarrierefunktionen; Robotik; Künstliche Intelligenz; Beteendeträd; Förstärkningsinlärning; Kontrollbarriärfunktioner; Robotik; Artificiell Intelligens;

    Abstract : This thesis investigates combining learning action nodes in behavior trees with control barrier functions based on the extended active constraint conditions of the nodes and whether the approach improves the performance, in terms of training time and policy quality, compared to a purely learning-based approach. Behavior trees combine several behaviors, called action nodes, into one behavior by switching between them based on the current state. READ MORE