A layered differentiable optimization approach combines conformal prediction for risk-aware ellipsoids with control barrier functions and quadratic programming for safe robot navigation under sensor uncertainty.
Collision Avoidance for Ellipsoidal Rigid Bodies With Control Barrier Functions Designed From Rotating Supporting Hyperplanes , year=
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Differentiable Optimization Layered Safety-Critical Control for Risk-Aware Navigation via Conformal Prediction
A layered differentiable optimization approach combines conformal prediction for risk-aware ellipsoids with control barrier functions and quadratic programming for safe robot navigation under sensor uncertainty.