We present a closed-form optimal feedback control method that ensures safety in an a prior
unknown and potentially dynamic environment. This article considers the scenario where …

This paper extends the gap-based navigation technique Potential Gap with safety
guarantees at the local planning level for a kinematic planar nonholonomic robot model …

This paper extends the gap-based navigation technique in Potential Gap by guaranteeing
safety for nonholonomic robots for all tiers of the local planner hierarchy, so called Safer …