Captivity-Escape Games as a Means for Safety in Online Motion Generation
arXiv:2506.01399v3 Announce Type: replace-cross 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 num
Overview
arXiv:2506.01399v3 Announce Type: replace-cross 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.
Source
Originally published at arxiv.org.
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Source: https://arxiv.org/abs/2506.01399