Jacobian State Augmented Viable Kinematic Safety Filter

Safety Filters (SF) are leveraged to design certifiably safe controllers, which ensures forward invariance on a defined safe set when the filter is feasible. Predictive Safety Filters (PSF) embed these constraints to a closed-loop model-based optimization method to improve constraint satisfaction, and reduce feasibility loss caused by myopic, one-step filtering.

Aus dem Abstract. Unsere Zusammenfassung folgt.