CA-HCBF creates a unified acceleration-level safety framework for mixed holonomic and nonholonomic robots and allocates avoidance duties proportionally to each robot's capability using a support-function metric and clipping.
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Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
CA-HCBF creates a unified acceleration-level safety framework for mixed holonomic and nonholonomic robots and allocates avoidance duties proportionally to each robot's capability using a support-function metric and clipping.