Perception-Integrated Safety Critical Control via Analytic Collision Cone Barrier Functions on 3D Gaussian Splatting

Dario Tscholl, Yashwanth Nakka, Brian Gunter

We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barri…