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cs.RO2025
Corridor-based Adaptive Control Barrier and Lyapunov Functions for Safe Mobile Robot Navigation
Nicholas Mohammad, Nicola Bezzo
Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle a…
cs.RO2025
Soft Actor-Critic-based Control Barrier Adaptation for Robust Autonomous Navigation in Unknown Environments
Nicholas Mohammad, Nicola Bezzo
Motion planning failures during autonomous navigation often occur when safety constraints are either too conservative, leading to deadlocks, or too liberal, resulting in collisions…