A data-driven CBF converts alpha-confidence sets on unknown obstacle dynamics into probabilistic safety guarantees for vehicles with arbitrary relative-degree dynamics.
The dynamic window approach to collision avoidance,
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Splatblox creates a traversability-aware ESDF from RGB-LiDAR fusion via Gaussian Splatting, enabling semantic navigation that outperforms prior methods by over 50% success rate in vegetated field trials on quadruped and wheeled robots.
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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.
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Splatblox: Traversability-Aware Gaussian Splatting for Outdoor Robot Navigation
Splatblox creates a traversability-aware ESDF from RGB-LiDAR fusion via Gaussian Splatting, enabling semantic navigation that outperforms prior methods by over 50% success rate in vegetated field trials on quadruped and wheeled robots.