Certain applications from control, such as safeRL based on continuously differentiable Control Barrier Functions (CBF) require the action inputs to be the time-derivative of various state-variables. When using velocity obstacles as a CBF, this is dependent on the current velocity and heading of the aircraft, as a result, the control inputs should be heading_rate and horizontal acceleration.
Proposed implementation
Implement the following action wrapper, which communicate directly with BlueSky, to select in environments:
- set_heading_rate()
- set_horizontal_acceleration()
- set_vertical_speed()
- set_vertical_acceleration()
Certain applications from control, such as safeRL based on continuously differentiable Control Barrier Functions (CBF) require the action inputs to be the time-derivative of various state-variables. When using velocity obstacles as a CBF, this is dependent on the current velocity and heading of the aircraft, as a result, the control inputs should be heading_rate and horizontal acceleration.
Proposed implementation
Implement the following action wrapper, which communicate directly with BlueSky, to select in environments: