Control Barrier Functions

Also known as CBF

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Latest papers 141

36 papers in the last four weeks, up 350% on the four weeks before. 0.2% of all new papers.

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  1. LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference

    Oct 6, 2026Maitham F. AL-Sunni, Timeea-Andreea Radu, Hassan Almubarak +4Safety-Critical ControlControl Barrier Functions

    Department of Electrical & Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA · School of Computer Science & Engineering, Constructor University, Bremen, Germany · Control & Instrumentation Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia +1

  2. SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle Avoidance

    Oct 6, 2026Amin Kashiri, Yasin YazıcıoğluControl Barrier FunctionsRobot Safety

    Department of Electrical and Computer Engineering at Northeastern University, Boston, MA · Departments of Mechanical and Industrial Engineering and Electrical and Computer Engineering at Northeastern University, Boston, MA

  3. Context-Conditioned Hamilton-Jacobi Reachability for Adaptive Safety Filtering

    Oct 6, 2026Ali Fuat Sahin, Yunus Yazoglu, John Talbot +3Reachability AnalysisAutonomous Driving Safety Evaluation

    Ecole Polytechnique Fédérale de Lausanne · Stanford University · Toyota Research Institute

  4. Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control

    Oct 4, 2026Lishuo Pan, Mattia Catellani, An Cao +2Safety-Critical ControlControl Barrier Functions

    Department of Computer Science, Brown University, Providence, RI 02912 USA · Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, 41121 Modena, Italy · Division of Physics, Mathematics and Astronomy, California Institute of Technology, Pasadena, CA 91125 USA

  5. Safe Ergodic Control for Multi-Robot Systems via Quadratic Programming

    Oct 4, 2026Yo Toyomoto, Mohamed Elobaid, Bryce L. Ferguson +2Multi-Robot SystemsControl Barrier Functions

    Electrical and Computer Engineering, King Abdullah University of Science and Technology (KAUST), Thuwal 23955, Saudi Arabia · Thayer School of Engineering at Dartmouth College, Hanover, NH, USA · Department of Computer Science, Dartmouth College, Hanover, NH, USA

  6. GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)

    Oct 4, 2026Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2Collision AvoidanceRobot Collision Avoidance

    Department of Aerospace Engineering, University of Maryland, College Park, MD, USA · Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, and with M3S, SMART, Singapore +1

  7. Latent Safety Filters: When a Lossy Encoder Admits a Transferable Certificate

    Oct 3, 2026Johannes Mootz, Zahra Nili Ahmadabadi, Reza AkhavianSafety-Critical ControlControl Barrier Functions

    Department of Civil, Construction, and Environmental Engineering, San Diego State University, San Diego, CA 92182, USA. · Department of Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA 92093, USA. · Department of Mechanical Engineering, San Diego State University, San Diego, CA 92182, USA.

  8. Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking

    Oct 1, 2026Pranit Mohnot, Christian Helten, Daniele Gammelli +1Humanoid Motion TrackingRobot Safety

    Stanford University · Technical University of Munich · Italian Institute of Artificial Intelligence (AI4I) +1

  9. WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation

    Oct 1, 2026Samuel Zhen, Siwon Jo, Yanze Zhang +1Control Barrier FunctionsRobot Safety

    Department of Computer Science and Engineering, Texas A&M University, College Station, TX 77843, USA. · GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. · Department of Computer Science, University of Illinois Chicago, Chicago, IL 60607, USA.

  10. DODGER: Safety-Guided Reinforcement Learning for Robot Navigation Among Dynamic Obstacles

    Sep 30, 2026Sanghyuk Park, Kwanwoo Lee, Taekyung Kim +2RL for RoboticsControl Barrier Functions

    Department of Intelligence and Information, Seoul National University, Republic of Korea · Department of Robotics, University of Michigan, Ann Arbor, MI, USA · Department of Mechanical Engineering, Yonsei University, Republic of Korea +1

  11. A Reachability-based Safety Certificate for Dynamical System Motion Policies

    Sep 29, 2026Aditya Vats, Tianyi Xia, Nadia FigueroaReachability AnalysisSafety-Critical Control

    The authors are with the University of Pennsylvania, Philadelphia, PA, USA.

  12. Adversarially Robust Geometric Safety Certificates for Nonholonomic Robots Against Maneuvering Obstacles

    Sep 29, 2026Chandan Kumar Sah, Bazeela Banday, Jishnu KeshavanControl Barrier FunctionsSafe Robot Navigation

    Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka 560012, India

  13. Safe-by-Design Learning via Energy-based Neural Networks

    Sep 29, 2026Simone Betteti, Morteza Lahijanian, Luca LaurentiSafety-Critical ControlControl Barrier Functions

    RIAS Lab The Italian Institute of Artificial Intelligence for Industry Torino, 10129, ITA · RECUV University of Colorado Boulder Boulder, CO 80303, USA · Delft Center for Systems and Control, TU Delft, Delft, 2600 AA, The Netherlands

  14. Distilling Privileged Control Barrier Functions into RGB-Only Safety Filters for Dynamic Visual Navigation

    Sep 29, 2026Seungyeon Yoo, Gawon Lee, Seungwoo Jung +2Control Barrier FunctionsRobotics

    Department of Aerospace Engineering, Seoul National University, Seoul, Republic of Korea

  15. Model-Informed Safe Reinforcement Learning for Bipedal Locomotion via Step-to-Step Prediction

    Sep 28, 2026Victor Paredes, Ayonga HereidHumanoid Robot LocomotionControl Barrier Functions

    Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH, USA.

  16. Memory-Aware Multi-Sensor Perception for Efficient and Safe Navigation in Dynamic Environments

    Sep 24, 2026Jingshuo Li, Yifan Xue, Yifei Li +2Robot NavigationSafe Robot Navigation

    School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, USA

  17. LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials

    Sep 23, 2026Oswin So, Eric Yu, Chuchu FanSafety-Critical ControlControl Barrier Functions

    Massachusetts Institute of Technology.

  18. Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function

    Sep 22, 2026Andrea Fortuna, Marta Lorenzini, Elisa Motta +3Energy-Efficient Robot LocomotionControl Barrier Functions

    Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy · Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy · Dep. of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Rome, Italy

  19. Control Barrier Functions for Safe Free-Flying Robotic Spacecraft Operations in Tumbling Target Capture

    Sep 22, 2026Alexander Meinert, Peter Stadler, Niklas Baldauf +1Space RoboticsSafety-Critical Control

    Space Applications Group, e:fs TechHub GmbH, Gaimersheim, Germany · Faculty of Electrical Engineering and Information Technology, Ingolstadt University of Applied Sciences, Germany

  20. Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots

    Sep 22, 2026Fangju Yang, Siyi Ma, Tonghao Guan +5Robot Motion GenerationContinuum Robot Control

  21. Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions

    Sep 21, 2026Zijian Cai, Kiwan Wong, Wenci Xin +3Robot Trajectory TrackingControl Barrier Functions

    Singapore-MIT Alliance for Research and Technology (SMART) Centre, Singapore · CSAIL, Massachusetts Institute of Technology, Cambridge, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore +1

  22. BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control

    Sep 20, 2026Anandsingh Chauhan, Kunal GargRobot Policy LearningSafety-Critical Control

    Arizona State University

  23. Safety-Critical Control under Uncertainty via Adaptive Conformal Quantile Prediction Intervals

    Sep 20, 2026Hao Zhou, Yanze Zhang, Yiwei Lyu +1Safety-Critical ControlConformal Prediction

    Department of Computer Science, University of Illinois Chicago, Chicago, IL, 60607, USA · Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843, USA

  24. Splat-CBF: Safe Next-Best-View Control in 3D Gaussian-Splat Maps

    Sep 19, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Nader MoteeRobot NavigationActive Perception

    Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA

  25. Barrier Certificate Synthesis for Non-Polynomial Robotic Dynamics via Polynomial Lifting

    Sep 19, 2026Shivam Chaubey, Francesco Verdoja, Shankar Deka +1Control Barrier FunctionsRobot Safety

    School of Electrical Engineering, Aalto University, Espoo, Finland

  26. Density-Driven Area Coverage for Nonholonomic Multi-Robot Systems with Safety Guarantee

    Sep 19, 2026Julian Martinez, Kooktae LeeRobotic ControlMulti-Robot Systems

    Department of Mechanical and Aerospace Engineering, Texas Tech University, Lubbock, TX 79409, USA

  27. VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies

    Sep 18, 2026Meg Wilkinson, Emily Fourney, Joel W. Burdick +1Robot SafetyRobot Collision Avoidance

    Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA 91125, USA

  28. LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control

    Sep 18, 2026Jake Gonzales, Arturo Flores Alvarez, Yu-Ming Chen +3Robot SafetyControl Barrier Functions

    Amazon · University of Washington, Seattle · University of California, Los Angeles +1

  29. SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration

    Sep 17, 2026Yisen Li, Hao Zhang, Ruize Geng +3Safe RLRobot Safety

    University of Texas at Arlington · Carnegie Mellon University

  30. Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance

    Sep 17, 2026Zhiyi Chen, Shuli Lv, Chen Min +3Control Barrier FunctionsSafe Robot Navigation

    National Key Laboratory of Autonomous Intelligent Unmanned Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China · School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China