A captivity-escape differential game computes the planner model's performance needed to keep tracking error inside a safety margin, and in the numerical example it runs orders of magnitude faster than FaSTrack.
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Captivity-Escape Games as a Means for Safety in Online Motion Generation
A captivity-escape differential game computes the planner model's performance needed to keep tracking error inside a safety margin, and in the numerical example it runs orders of magnitude faster than FaSTrack.