Showing cs.ROShow all
2 papers · 1 filter
cs.RO2026
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
Taekyung Kim, Rahul H Kumar, Aswin D. Menon +2
Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented…
cs.RO2026
Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
Taekyung Kim, Aswin D. Menon, Akshunn Trivedi +1
This paper revisits three backup-based safety filters -- Backup Control Barrier Functions (Backup CBF), Model Predictive Shielding (MPS), and gatekeeper -- through a unified compar…