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IJMERR, Volume 14, Number 3, 2025

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Cover Story (view full-size image): Ensuring a high level of safety is essential for collision avoidance in real-world robotic applications. Traditional Reinforcement Learning (RL)-based collision avoidance methods offer adaptability but lack safety guarantees, especially in uncertain and dynamic environments. To address this, we propose a novel safe reinforcement learning (SafeRL) framework called Control Recovery and Barrier Function (CRBF), which enhances safety by sequentially applying different control strategies based on the robot’s proximity to obstacles. The CRBF categorizes risk into three distinct levels and adaptively switches between a vanilla RL-based policy, Control Barrier Function (CBF), and a Recovery Function (RF) to prevent collisions and recover from critical situations. In addition, we introduce a constraint-aware training strategy that incorporates these sequential safety mechanisms during policy updates. We validate our method in both simulated and real-world environments, where CRBF outperforms conventional method...View this paper

Volume 14, No. 3, 2025
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Article# Article Title & Authors (Volume 14, No. 3, 2025) Page
1
Mohammad Al Mashagbeh*, Saleh K. Elayyan, and Migdad Tamimi
229
2
A. D. Younis, Ziad. S. Al Sarraf, Abdulhaqq A. Hamid*, and Zaid T. ALdabbagh
238
3
Hoang Quang Tuan, Vu Hai Quan, and Trinh Minh Hoang*
245
4
Nasaruddin Salam, Rustan Tarakka, Lukman Kasim*, Muhammad Agung, and Hamsa
252
5
Sasithorn Chookaew and Suppachai Howimanporn*
262
6
Ericsson Yong, Muhammad Aizzat Zakaria*, Mohamad Heerwan Peeie, and M. Izhar Ishak
276
7
Le Minh Triet and Nguyen Truong Thinh*
282
8
Chadi F. Riman* and Wael H. F. Aly*
299
9
Qingshan Wu, Mianhao Zhu*, Yanqi Shang, Yue Chen, Huibao Zhang, and Zhimin Sun
309
10
Vo Thu Hà* and Thân Thị Thương
323
11
Sidonie F. Costa*, Fernando M. Duarte, and José A. Covas
340
12
Gyuyong Hwang and Gyuho Eoh*
347
13
Tri Cuong Do and Tri Dung Dang*
360
14
Ndaru Adyono, Ahmad Khairul Faizin, M. Danny Pratama Lamura, and Wahyu Dwi Lestari*
367