arXiv (OAI Expanded)
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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 fai
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