نسخة أولية وصول مفتوح
BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation
Control barrier functions (CBFs) provide a mathematically grounded framework for enforcing local collision-avoidance constraints in autonomous mobile robots, commonly through optimization-based safety filters. However, a minimum-intervention CBF filter lacks task-level maneuver awareness and may fail to select a produc …