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This paper utilizes instantaneous local sensory data to stimulate the safe feedback motion planning (SFMP) strategy with adaptability to diverse prior-unknown environments without building a global map. This is achieved by the numerical optimization with the constraints, referred to as instantaneous local control barrier functions (IL-CBFs) and goal-driven control Lyapunov functions (GD-CLFs), learned from perceptional signals. In particular, the IL-CBFs reflecting potential collisions and GD-CLFs encoding incrementally discovered subgoals are first online learned from local perceptual data. Then, the learned IL-CBFs are united with GD-CLFs in the context of quadratic programming (QP) to generate the safe feedback motion planning strategy. Rather importantly, an optimization over the admissible control space of IL-CBFs is conducted to enhance the solution feasibility of QP. The SFMP strategy is developed with theoretically guaranteed collision avoidance and convergence to destinations. Numerical simulations are conducted to reveal the effectiveness of the proposed SFMP strategy that drives mobile robots to safely reach the destination incrementally in diverse prior-unknown environments.<\/jats:p>","DOI":"10.1007\/s10846-023-01962-8","type":"journal-article","created":{"date-parts":[[2023,10,14]],"date-time":"2023-10-14T08:02:10Z","timestamp":1697270530000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Safe Feedback Motion Planning in Unknown Environments: An Instantaneous Local Control Barrier Function Approach"],"prefix":"10.1007","volume":"109","author":[{"given":"Cong","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1875-1032","authenticated-orcid":false,"given":"Zengjie","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nesrin","family":"Ahmed","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingchen","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fangzhou","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Martin","family":"Buss","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,10,14]]},"reference":[{"key":"1962_CR1","doi-asserted-by":"crossref","unstructured":"Hudson, N.,\u00a0Talbot, F.,\u00a0Cox, M.,\u00a0Williams, J.,\u00a0Hines, T.,\u00a0Pitt, A.,\u00a0Wood, B.,\u00a0Frousheger, D., Surdo, K.L.,\u00a0Molnar, T., et\u00a0al.: \u201cHeterogeneous ground and air platforms, homogeneous sensing: Team csiro data61\u2019s approach to the darpa subterranean challenge.\u201d Preprint at arXiv:2104.09053 (2021)","DOI":"10.55417\/fr.2022021"},{"key":"1962_CR2","doi-asserted-by":"crossref","unstructured":"LaValle, S.M.: Planning algorithms. 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