Captivity-Escape Games as a Means for Safety in Online Motion Generation
Abstract
This paper addresses conservatism, limited numerical accuracy, and high computational effort in existing methods ensuring safety by design in online model-based motion generation. The presented method employs a novel captivity-escape zero-sum differential game to adapt the planning model's performance so that resulting reference trajectories are trackable within a prescribed safety margin by a jointly synthesized safety controller. A numerical example demonstrates orders-of-magnitude faster computation and improved numerical accuracy compared to the state of the art.
Fields of Study & Subjects
Human Motion and Animation
Virtual Reality Applications and Impacts
Evacuation and Crowd Dynamics
Publication details
- Journal / source
- IEEE Transactions on Automatic Control
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Pages
- 1–8
- Publication date
- 1 January 2026
- Language
- EN