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.
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environ- ments
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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.