Safe Navigation under Uncertain Obstacle Dynamics using Control Barrier Functions and Constrained Convex Generators
This work creates a safe navigation system for agents moving around uncertain obstacles using Control Barrier Functions (CBFs) and Constrained Convex Generators (CCGs). It combines guaranteed state estimation via CCGs with CBF filtering to ensure collision-free motion even when obstacle dynamics are uncertain. The main contribution is a method to convert the estimated obstacle flows into usable CBFs.