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eess.SY2025
Risk Aware Safe Control with Multi-Modal Sensing for Dynamic Obstacle Avoidance
Pei Yu Chang, Qizhe Xu, Vishnu Renganathan +1
Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise an…
eess.SY2025
Risk-Budgeted Control Framework for Balanced Performance and Safety in Autonomous Vehicles
Pei Yu Chang, Vishnu Renganathan, Qadeer Ahmed
This paper presents a hybrid control framework with a risk-budgeted monitor for safety-certified autonomous driving. A sliding-window monitor tracks insufficient barrier residuals…