most citedOGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles

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cs.RO2024★ 1 cited

OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles

Golnaz Raja, Miloš Prágr, Topi Reino Johannes Kärki +2

Safe control in unknown environments is a key challenge in mobile robotics. Control Barrier Functions (CBFs) provide a principled framework for guaranteeing safety constraint satis…