A control barrier function for safe navigation is synthesized online by solving Laplace's equation on a local occupancy grid map with obstacle and safety-region boundary conditions.
Control barrier functions: Theory and applications,
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Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments
A control barrier function for safe navigation is synthesized online by solving Laplace's equation on a local occupancy grid map with obstacle and safety-region boundary conditions.