A layered differentiable optimization approach combines conformal prediction for risk-aware ellipsoids with control barrier functions and quadratic programming for safe robot navigation under sensor uncertainty.
Robust Safety-Critical Control Under Multiple State and Input Constraints: Volume Control Barrier Function Method , year=
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Differentiable Optimization Layered Safety-Critical Control for Risk-Aware Navigation via Conformal Prediction
A layered differentiable optimization approach combines conformal prediction for risk-aware ellipsoids with control barrier functions and quadratic programming for safe robot navigation under sensor uncertainty.