# LACART: Lookahead-Augmented Collision Avoidance and Reference Tracking Strategies for Safety-Critical Robots

- Source: arXiv cs.RO
- Published: 2026-11-09T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/ah8jfua0600tl7mf18gs6dppz
- Original: https://arxiv.org/abs/2611.09640

## Summary

LACART combines lookahead-based control barrier functions (CBFs), a relaxed control Lyapunov function (CLF), and quadratic programming (QP) to modify nominal vehicle commands in a unified optimization layer, handling both circular obstacles and track boundaries.