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Author

Alexander Coker

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Preprint Oct 2026

Exact-Safe MPPI: Safety-Aware Sampling with Nonsmooth Control Barrier Functions

This paper proposes Exact-Safe MPPI, which uses the exact minimum of multiple barrier functions and applies a CBF-based quadratic program during both planning and control execution and establishes forward invariance of the certified safe set without the shrinkage introduced by soft-minimum smoothing.

Alexander Coker, Lei-Lei Cui · 0 citations

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