Before revision:  This paper proposes a novel motion planning approach using Rapidly exploring Random Trees (RRT) algorithm to enforce the robust CBF and kinodynamic constraints to generate a safety-critical path that is free of any obstacles while taking into account the model uncertainty from robot dynamics as well as perception.
After revision:  This paper proposes a novel motion planning approach using Rapidly exploring Random Trees (RRT) algorithm to enforce the robust CBF and kinodynamic constraints to generate a safety-critical path . The proposed algorithm also outputs the corresponding control signals that resulted in the obstacle-free path. The approach also allows considering model uncertainties by incorporating the robust CBF constraints into the proposed framework. Thus, the resulting path is free of any obstacles while taking into account the model uncertainty from robot dynamics as well as perception.