An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.
High order robust adaptive control barrier functions and exponentially stabilizing adaptive control lyapunov func- tions,
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Online Learning-Enhanced High Order Adaptive Safety Control
An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.