Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance

arXiv:2609.20435 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Code: https://github.com/WLM-boop/D-ILP

Terminology

• Steering — 14× in this paper · explained in 2 episodes
• Iterative Learning Planning — 9× in this paper
• Computational overhead — 6× in this paper · explained in 2 episodes
• Average Planning Time — 4× in this paper
• Average Speed — 4× in this paper
• Model Predictive Control — 4× in this paper
• Success Rate — 4× in this paper
• Average Safety Margin — 3× in this paper
• Minimum Safety Margin — 3× in this paper
• Passing Time — 3× in this paper
• Average Curvature — 2× in this paper
• Benchmark — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 4 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Fractional Power Update Rule — 1× in this paper
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Timed Elastic Band — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes

Sources

• IR-SIM: A Lightweight Declarative Simulator for Navigation Learning and Benchmarking

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