Before revision:  The efficacy of this method is illustrated on three nonlinear robot models, including a 12-D quadrotor drone, in simulation . By ensuring safety with RTS, this paper demonstrates that the proposed algorithm is not only safe , but can achieve a higher reward in a considerably shorter training time when compared to a non-safe counterpart .
After revision:  The efficacy of this method is illustrated on three nonlinear robot models, including a 12-D quadrotor drone, in simulation and in comparison with state-of-the-art safe motion planning methods .