Safe robot navigation in obstacle-rich environments is demonstrated in simulation by representing obstacles with NeRFs and enforcing safety via reachable-set constraints inside a linear-matrix-inequality optimal-control formulation.
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Safe Navigation using Neural Radiance Fields via Reachable Sets
Safe robot navigation in obstacle-rich environments is demonstrated in simulation by representing obstacles with NeRFs and enforcing safety via reachable-set constraints inside a linear-matrix-inequality optimal-control formulation.