A perception-driven composite CBF safety filter from 3D LIDAR data enables real-time collision avoidance for robots in dynamic constrained environments by using a body-frame ellipsoid safety region with per-point time-varying constraints.
Safe quadrotor navigation using composite control barrier functions,
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Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
A perception-driven composite CBF safety filter from 3D LIDAR data enables real-time collision avoidance for robots in dynamic constrained environments by using a body-frame ellipsoid safety region with per-point time-varying constraints.