Abstract:This paper addresses conservatism, limited numerical accuracy, and high computational effort in existing methods ensuring safety by design in online model-based motion generation. The presented method employs a novel captivity-escape zero-sum differential game to adapt the planning model's performance so that resulting reference trajectories are trackable within a prescribed safety margin by a jointly synthesized safety controller. A numerical example demonstrates orders-of-magnitude faster computation and improved numerical accuracy compared to the state of the art.
From: Christopher Bohn [view email]
[v1]
Mon, 2 Jun 2025 07:51:00 UTC (1,198 KB)
[v2]
Mon, 30 Mar 2026 13:06:41 UTC (1,511 KB)
[v3]
Thu, 16 Jul 2026 09:39:07 UTC (1,511 KB)
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