ResearchBenchmarksSafety-critical obstacle-avoidance navigation on Dynamic and static obstacle simulationSafety-critical obstacle-avoidance navigation on Dynamic and static obstacle simulationFollow0.346Min Distance (m)DLGP-CBF0.120320.178910.23750.29609Dec 1, 2025Evaluation resultsMethodMethodLinksMin Distance (m)Arrival Time (s)Linear Speed VarianceAngular Speed VarianceDLGP-CBFtraining dataset size=...training dataset size=30, inference time=21 ms2025.120.34630.5330.1120.339GP-CBF2025.120.16133.7660.1430.575MPC-DCBF2025.120.12933.8670.110.702