Solving Poisson's equation on an occupancy map with a tunable negative forcing function yields a smooth safety function that can be used as a control barrier function for collision-free robot control.
Data- driven safety filters: Hamilton-jacobi reachability, control barrier functions, and predictive methods for uncertain systems,
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Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Solving Poisson's equation on an occupancy map with a tunable negative forcing function yields a smooth safety function that can be used as a control barrier function for collision-free robot control.