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cs.RO2026
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Joonkyung Kim, Yanze Zhang, Wenhao Luo +1
Safe decentralized navigation in heterogeneous robot teams is challenging because robots with different dynamics and control limits cannot satisfy identical collision-avoidance obl…
cs.RO2026
Gaussian Mixture-Based Inverse Perception Contract for Uncertainty-Aware Robot Navigation
Bingyao Du, Joonkyung Kim, Yiwei Lyu
Reliable navigation in cluttered environments requires perception outputs that are not only accurate but also equipped with uncertainty sets suitable for safe control. An inverse p…