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cs.RO2024
Addressing Behavior Model Inaccuracies for Safe Motion Control in Uncertain Dynamic Environments
Minjun Sung, Hunmin Kim, Naira Hovakimyan
Uncertainties in the environment and behavior model inaccuracies compromise the state estimation of a dynamic obstacle and its trajectory predictions, introducing biases in estimat…
eess.SY2024
Resilient Estimator-based Control Barrier Functions for Dynamical Systems with Disturbances and Noise
Chuyuan Tao, Wenbin Wan, Junjie Gao +3
Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety s…