Dual-gatekeeper integrates robust planning with active exploration under formal safety and budget guarantees, exploring only when verifiable improvement is possible without compromising either.
Robust control barrier and control lyapunov functions with fixed-time convergence guarantees
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Trajectory Planning for Safe Dual Control with Active Exploration
Dual-gatekeeper integrates robust planning with active exploration under formal safety and budget guarantees, exploring only when verifiable improvement is possible without compromising either.