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Risk aware safe control with multi-modal sensing for dynamic obstacle avoidance
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DOI：10.1016/j.conengprac.2026.107114.png)
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Abstract
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• Multi-modal obstacle sensing fused via Wasserstein barycenter. • CVaR-CBF safety filter for risk-aware autonomous vehicle control. • Integration of sensing uncertainty into safety-critical control. • Real-time implementation on a full-scale autonomous vehicle. • Improved safety under sensing uncertainty in dynamic obstacle scenarios.
Keywords:
Autonomous vehicle
Safety-critical control
Conditional value at risk
Wasserstein barycenter
Uncertainty fusion
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