A sampling-based safety filter using SV-MPC samples overrides unsafe nominal inputs and provides a probabilistic guarantee on restrictiveness via the scenario approach for collision avoidance.
The scenario approach for systems and control design
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Sampling-Based Safety Filter with Probabilistic Restrictiveness Guarantee
A sampling-based safety filter using SV-MPC samples overrides unsafe nominal inputs and provides a probabilistic guarantee on restrictiveness via the scenario approach for collision avoidance.