🎯 Live Physical Environment & Obstacle Field

Robot Pose: (0.00m, 0.00m, 0.0°)

Safety Status: POSITIVE INVARIANT (SAFE)

QP Solve Time: 0.08 ms

Mode:

+0.4850 Margin to boundary $h(x)=0$

🧠 Proposed AI Command ($u_{\text{AI}}$)

Linear Vel ($v$): 1.500 m/s

Angular Vel ($\omega$): 0.000 rad/s

➔ CBF-QP Filter ➔

⚡ Safe Filtered Command ($u^*$)

Linear Vel ($v$): 0.342 m/s

Angular Vel ($\omega$): 0.420 rad/s

L2 Perturbation Magnitude ($\|\Delta u\|$): 1.1764 INTERCEPTED

AI Linear Velocity ($v_{\text{AI}}$): 1.5 m/s

AI Angular Velocity ($\omega_{\text{AI}}$): 0.0 rad/s

CBF Class-$\mathcal{K}$ Coefficient ($\gamma$): 1.5

$V(x)$ Energy: 2.1450

$\dot{V}(x)$ Derivative: -0.4210 (CONVERGING)