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Safety-critical closed-loop planning and control for connected-automated vehicles amid prospective hazards via orchestrated constrained reinforcement learning

Sichen Yu, Jiankun Peng, Shen Li 0001, Shuangqi Li, Xinhang Xie, Zhenyang Wang, Yi Fan. Safety-critical closed-loop planning and control for connected-automated vehicles amid prospective hazards via orchestrated constrained reinforcement learning. Eng. Appl. of AI, 181:115460, 2026. [doi]

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