Adaptive Risk-Certified Event-Triggered Replanning for Dynamic Navigation
Overview
CERT-Replan reduces collisions by 83.3% and achieves 96% collision-free operation through adaptive risk-certified replanning, validated by hardware experiments and runtime profiling for real-world deployment feasibility.
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- arXiv Robotics — research abstractsAdaptive 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.
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