gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments - Agrawal, Devansh Ramgopal; Chen, Ruichang; Panagou, Dimitra (IEEE transactions on robotics, 2024)
Keywords: Aerial systems; Algorithm design and analysis; applications; Collision avoidance; motion and path planning; Motion planning; Nonlinear dynamical systems; Path planning; Quadrotors; Robot sensing systems; Safety; safety–critical control; Trajectory