arXiv (OAI Expanded)
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A Time-to-Collision Barrier Function Approach to Collision Avoidance for Stochastic Systems
Collision avoidance constraints for autonomous systems are typically formulated in position or velocity space, implicitly reacting to geometric proximity. We propose an alternative paradigm based on the adversarial time-to-collision (aTTC): the minimum time in which an adversary could achieve a coll
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