在保证安全和任务成本的前提下，动态规划探索路径以平衡当前任务与长期不确定性降低。

Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduction and leads to overly conservative behavior. Actively reducing uncertainty on-the-fly during a nominal mission defines the dual control problem. Most approaches address this by adding a weighted exploration term to the cost, tuned to trade off the nominal objective and uncertainty reduction, but without formal consideration of when exploration is beneficial. Moreover, safety is enforced in some methods but not in others. We study a budget-constrained dual control problem, where uncertainty is reduced subject to safety and a mission-level cost budget that limits the allowable degradation in task performance due to exploration. In this work, we propose Dual-gatekeeper, a framework that integrates robust planning with active exploration under formal guarantees of safety and budget feasibility. The key idea is that exploration is pursued only when it provides a verifiable improvement without compromising safety or violating the budget, enabling the system to balance immediate task performance with long-term uncertainty reduction in a principled manner. We provide two implementations of the framework based on different safety mechanisms and demonstrate its performance on quadrotor navigation and autonomous car racing case studies under parametric uncertainty.