PL-CBF evaluates a library of fallback policies through parallel finite-horizon rollouts and selects the least invasive safe mode via quadratic programming to certify finite-horizon safety at runtime.
Advances in the Theory of Control Barrier Func- tions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems
2 Pith papers cite this work. Polarity classification is still indexing.
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The paper shows Model Predictive Shielding is a special case of gatekeeper and relates gatekeeper to the interior of the Backup CBF inactive set, while highlighting conservatism from evaluating safety via backup feasibility rather than nominal policy safety.
citing papers explorer
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Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
PL-CBF evaluates a library of fallback policies through parallel finite-horizon rollouts and selects the least invasive safe mode via quadratic programming to certify finite-horizon safety at runtime.
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Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
The paper shows Model Predictive Shielding is a special case of gatekeeper and relates gatekeeper to the interior of the Backup CBF inactive set, while highlighting conservatism from evaluating safety via backup feasibility rather than nominal policy safety.