A data-driven CBF converts alpha-confidence sets on unknown obstacle dynamics into probabilistic safety guarantees for vehicles with arbitrary relative-degree dynamics.
Model- predictive control with stochastic collision avoidance using bayesian policy optimization
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CBF-based Probabilistic Safe Navigation under Unknown Nonlinear Obstacle Dynamics
A data-driven CBF converts alpha-confidence sets on unknown obstacle dynamics into probabilistic safety guarantees for vehicles with arbitrary relative-degree dynamics.