{"paper":{"title":"ASMA: An Adaptive Safety Margin Algorithm for Vision-Language Drone Navigation via Scene-Aware Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.IV","eess.SY"],"primary_cat":"cs.RO","authors_text":"Kaushik Roy, Sourav Sanyal","submitted_at":"2024-09-16T13:44:50Z","abstract_excerpt":"In the rapidly evolving field of vision-language navigation (VLN), ensuring safety for physical agents remains an open challenge. For a human-in-the-loop language-operated drone to navigate safely, it must understand natural language commands, perceive the environment, and simultaneously avoid hazards in real time. Control Barrier Functions (CBFs) are formal methods that enforce safe operating conditions. Model Predictive Control (MPC) is an optimization framework that plans a sequence of future actions over a prediction horizon, ensuring smooth trajectory tracking while obeying constraints. I"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.10283","kind":"arxiv","version":4},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2409.10283/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}