Adaptive Risk-Certified Event-Triggered Replanning for Dynamic Navigation

This research proposes CERT-Replan, a framework that uses calibrated barrier risk as an early-warning signal for replanning in dynamic navigation. By integrating horizon-indexed obstacle-prediction residuals and dynamic-obstacle safety margins, CERT-Replan reduces collisions by 83.3% compared to a safety-filter-only baseline and achieves 96% collision-free operation with Trajectron++. The method also reduces average safety-filter intervention by 32.4% and demonstrates computational feasibility through hardware experiments.