Presents a nonlinear actuator-aware safety filter using high-relative-degree collision cone exponential CBFs and a backup CBF on 3DGS, claiming 47% less jerk and 2.25x faster runtime than prior 3DGS filters.
An online approach to active set invariance,
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FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
Presents a nonlinear actuator-aware safety filter using high-relative-degree collision cone exponential CBFs and a backup CBF on 3DGS, claiming 47% less jerk and 2.25x faster runtime than prior 3DGS filters.