DGPPO learns a discrete-time graph control barrier function and a distributed policy together, achieving high safety and task performance in multi-agent simulations with unknown dynamics, partial observability, and input limits.
Constrained policy optimization
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Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control
DGPPO learns a discrete-time graph control barrier function and a distributed policy together, achieving high safety and task performance in multi-agent simulations with unknown dynamics, partial observability, and input limits.