A corridor-based safety-barrier controller with live parameter adaptation increased mobile-robot navigation success from 76% to 89% in cluttered unknown environments.
Iss and integral-iss disturbance attenuation with bounded controls,
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Corridor-based Adaptive Control Barrier and Lyapunov Functions for Safe Mobile Robot Navigation
A corridor-based safety-barrier controller with live parameter adaptation increased mobile-robot navigation success from 76% to 89% in cluttered unknown environments.