arxivcs.RO2026-07-16
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai, Ignacio Torroba, Ivan Stenius, Patric Jensfelt, et al.
Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the states of an unknown and time-varying number of moving objects from noisy, incomplete measurements. We address safe control under the induced multi-object state uncertai…