Adversarially Robust Geometric Safety Certificates for Nonholonomic Robots Against Maneuvering Obstacles

arXiv:2609.37126 · cs.RO, cs.MA · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.MA

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Robustness — 25× in this paper · explained in 5 episodes
• Steering — 9× in this paper · explained in 2 episodes
• Inevitable Collision State — 5× in this paper
• Velocity Obstacle — 4× in this paper
• Adversarial Robustness — 2× in this paper · explained in 3 episodes
• American Control Conference — 2× in this paper
• Closed-Loop Control — 1× in this paper · explained in 2 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Empirical Coverage — 1× in this paper · explained in 2 episodes
• IEEE Conference on Decision and Control — 1× in this paper
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

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