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arXiv · 2506.01399

Captivity-Escape Games as a Means for Safety in Online Motion Generation

Christopher Bohn·Manuel Hess·Sören Hohmann
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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.

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Christopher Bohn, Manuel Hess, Sören Hohmann. 2025-06-02. Captivity-Escape Games as a Means for Safety in Online Motion Generation. https://doi.org/10.1109/tac.2026.3714227

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