Parameterized Fast and Safe Tracking (PFaSTrack) for Efficient and Guaranteed Navigation in Unknown Environments

Parametric FaSTrack (PF) is a framework that combines the safety guarantees of Fast and Safe Tracking (FaSTrack) with the scalability and online adaptability of DeepReach to enable efficient and guaranteed navigation in unknown environments. PF parameterizes the tracking error bound and controller by the planner's control authority, allowing it to automatically trade off between safety and navigation speed.