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The extended ILP to safety-critical navigation in dynamic environments by integrating an anticipatory risk-blended control barrier function (ARB-CBF) is extended, demonstrating superior temporal efficiency and safety with lower computational overhead compared to optimizationbased baselines, making it highly suitable for resourceconstrained platforms.
Achieving a 41.6% reduction in feature misalignment, this platform sets a new standard for real-time panoramic perception in ultra-low-altitude UAVs.
