Control Barrier Functions

Also known as CBF

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Latest papers 148

36 papers in the last four weeks, up 260% on the four weeks before. 0.2% of all new papers.

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  1. k-Inductive Neural Barrier Certificates for Unknown Nonlinear Dynamics

    May 19, 2026Ben Wooding, Hongchao Zhang, Taylor T. Johnson +1Control Barrier FunctionsFormal Verification

    Vanderbilt University, Nashville, TN, USA · Newcastle University, Newcastle upon Tyne, UK

  2. Beyond Safety Filtering: Control Barrier Function-Informed Reinforcement Learning for Connected and Automated Vehicles

    May 16, 2026Jianye Xu, Bassam AlrifaeeReward ShapingControl Barrier Functions

    Department of Computer Science, RWTH Aachen University, Germany · Department of Aerospace Engineering, University of the Bundeswehr Munich, Germany

  3. Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts

    May 15, 2026Taekyung Kim, Hideki Okamoto, Bardh Hoxha +2Safety-Critical ControlControl Barrier Functions

    Department of Robotics, 3Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, 48109, USA · Toyota Motor North America, Research & Development, Ann Arbor, MI, 48105, USA

  4. Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments

    May 15, 2026Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2Safety-Critical ControlControl Barrier Functions

    Robotics and Artificial Intelligence Group of the Department of Computer Science, Electrical and Space Engineering at Luleå University of Technology, Sweden.

  5. parallelcbf: A composable safety-filter and auditability framework for tensor-parallel reinforcement learning

    May 15, 2026Yijun Lu, Zilei Yang, Yuyin MaReinforcement LearningControl Barrier Functions

  6. Efficient Verification of Neural Control Barrier Functions with Smooth Nonlinear Activations

    May 8, 2026Jun Zhang, Haibo Zhang, Chun Liu +2Neural Network VerificationControl Barrier Functions

    School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China · Beijing Institute of Control Engineering, Beijing, China · School of Mechatronic Engineering and Automation, Shanghai2026 University, Shanghai, China +1

  7. Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control

    May 7, 2026Tanmay Dokania, Yashwanth Kumar NakkaDynamical SystemsSafety-Critical Control

    Graduate Student, Daniel Guggenheim School of Aerospace Engineering. · Assistant Professor, Director, Aerospace Robotics Lab, Daniel Guggenheim School of Aerospace Engineering.

  8. A Closed-Form Dual-Barrier CBF Safety Filter for Holonomic Robots on Incrementally Built Occupancy Grid Maps

    May 6, 2026Himanshu Paudel, Basanta Joshi, Dhirendra Raj Madai +3Safety-Critical ControlControl Barrier Functions

  9. Differentiable Optimization Layered Safety-Critical Control for Risk-Aware Navigation via Conformal Prediction

    May 5, 2026Jinyang Dong, Shizhen Wu, Yongchun FangSafety-Critical ControlControl Barrier Functions

    Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin 300071, China · Academy for Advanced Interdisciplinary Studies, Nankai University, Tianjin 300071, China · Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083, China

  10. Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators

    May 1, 2026Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang +2Safety-Critical ControlDeformable Object Manipulation

    Carnegie Mellon University, Pittsburgh, PA, USA

  11. CAPSULE: Control-Theoretic Action Perturbations for Safe Uncertainty-Aware Reinforcement Learning

    Apr 26, 2026Rahul Narava, Siddharth Verma, Ojas Jain +2Control Barrier FunctionsConstrained RL

    Indian Institute of Technology Ropar · CRAN, Université de Lorraine

  12. Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction

    Apr 24, 2026Rui Luo, Jonas Mariager Jakobsen, Wesley Roozing +2Robotic ControlControl Barrier Functions

  13. Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters

    Apr 23, 2026Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3Control Barrier FunctionsRobot Safety

    Computing and Mathematical Sciences, California Institute of Technology. · Mechanical and Civil Engineering, California Institute of Technology.

  14. Stochastic Barrier Certificates in the Presence of Dynamic Obstacles

    Apr 22, 2026Rayan Mazouz, Luca Laurenti, Morteza LahijanianControl Barrier FunctionsDynamic Obstacle Avoidance

    Dept. of Aerospace Eng. Sciences at University of Colorado Boulder, USA · Delft University of Technology, The Netherlands

  15. Boundary Sampling to Learn Predictive Safety Filters via Pontryagin's Maximum Principle

    Apr 14, 2026James Dallas, Thomas Lew, John Talbot +3Safety FilteringControl Barrier Functions

    Toyota Research Institute, Los Altos, CA 94022, USA. · Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305, USA.

  16. Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation

    Apr 14, 2026Joonkyung Kim, Yanze Zhang, Wenhao Luo +1Safe Robot NavigationControl Barrier Functions

    Department of Computer Science and Engineering, Texas A&M University · Department of Computer Science, University of Illinois Chicago

  17. Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning

    Apr 14, 2026Donggeon David Oh, Duy P. Nguyen, Haimin Hu +1Control Barrier Functions

    Department of Electrical and Computer Engineering, Princeton University, Princeton, NJ 08540, USA · Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA

  18. SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion

    Apr 10, 2026Zukun Zhang, Kai Shu, Mingqiao MoRobotic ControlRobot Safety

    The University of Hong Kong, Pokfulam, Hong Kong, China · Alibaba, Beijing, China · University of Chinese Academy of Sciences, No.1 Yanqihu East Rd, Huairou District, Beijing, China

  19. FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance

    Apr 6, 2026Qintong Xie, Weishu Zhan, Peter ChinMulti-Robot Formation ControlModel Predictive Control

    Thayer School of Engineering, Dartmouth College, NH 03784. · Department of Computer Science, The University of Manchester, Manchester M13 9PL, United Kingdom.

  20. Optimization-Free Constrained Control with Guaranteed Recursive Feasibility: A CBF-Based Reference Governor Approach

    Apr 5, 2026Satoshi Nakano, Emanuele Garone, Gennaro NotomistaControl Barrier Functions

    Department of Engineering, Nagoya Institute of Technology, 466-8555 Aichi, Japan · Department of Control Engineering and System Analysis, Universite Libre de Bruxelles, 1050 Brussels, Belgium · Department of Electrical and Computer Engineering, University of Waterloo, ON N2L 3G1, Canada

  21. Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper

    Apr 2, 2026Taekyung Kim, Aswin D. Menon, Akshunn Trivedi +1Safety FilteringControl Barrier Functions

    Department of Robotics, University of Michigan, Ann Arbor, MI, 48109, USA · Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, 48109, USA

  22. Long-Horizon Geometry-Aware Navigation among Polytopes via MILP-MPC and Minkowski-Based CBFs

    Mar 31, 2026Yi-Hsuan Chen, Salman Ghori, Ania Adil +2Safe Robot NavigationMotion Planning

    Dept. of Aerospace Engineering, University of Maryland, College Park, MD, USA. · Computer, Electrical and Mathematical Science & Engineering Division (CEMSE), KAUST, Saudi Arabia. · Dept. Electrical and Computer Engineering and Dept. Computer Science, University of Maryland, College Park, MD, USA.

  23. Distributed Predictive Control Barrier Functions: Towards Scalable Safety Certification in Modular Multi-Agent Systems

    Mar 31, 2026Jonas Ohnemus, Alexandre Didier, Ahmed Aboudonia +2Safety-Critical ControlControl Barrier Functions

    Institute for Dynamic Systems and Control, ETH Zurich, 8092 Zurich, Switzerland · University of California Berkeley, 94720 CA, USA

  24. Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet

    Mar 29, 2026Andrew W. Singletary, Max H. Cohen, Tamas G. Molnar +1Safety-Critical ControlRuntime Assurance

  25. Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions

    Mar 24, 2026Kimia Forghani, Suraj Raval, Lamar Mair +2Safety-Critical ControlControl Barrier Functions

    Department of Mechanical Engineering, University of Maryland, College Park, MD 20742 · Division of Magnetic Manipulation and Particle Research, Weinberg Medical Physics, Inc., North Bethesda, MD 20852 · Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218

  26. Dynamic Control Barrier Function Regulation with Vision-Language Models for Safe, Adaptive, and Realtime Visual Navigation

    Mar 22, 2026Jeffrey Chen, Rohan ChandraSafe Robot NavigationControl Barrier Functions

    Authors are with the Department of Computer Science, University of Virginia.

  27. A Closed-Form CLF-CBF Controller for Whole-Body Continuum Soft Robot Collision Avoidance

    Mar 19, 2026Kiwan Wong, Maximillian Stölzle, Wei Xiao +1Continuum Robot ControlRobot Collision Avoidance

    Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA · Robotics Engineering Department, Worcester Polytechnic Institute, Worcester, MA 01609, USA

  28. Safety-Guaranteed Imitation Learning from Nonlinear Model Predictive Control for Spacecraft Close Proximity Operations

    Mar 19, 2026Alexander Meinert, Niklas Baldauf, Peter Stadler +1Imitation LearningSafety-Critical Control

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

  29. Verification and Forward Invariance of Control Barrier Functions for Differential-Algebraic Systems

    Mar 13, 2026Hongchao Zhang, Mohamad H. Kazma, Meiyi Ma +2Control Barrier FunctionsDynamical Systems

    Department of Computer Science, Vanderbilt University, Nashville, TN 37235 USA. · Department of Civil and Environmental Engineering, Vanderbilt University, Nashville, TN 37235 USA.

  30. A Feasibility-Enhanced Control Barrier Function Method for Multi-UAV Collision Avoidance

    Mar 13, 2026Qishen Zhong, Junlong Wu, Jian Yang +4Collision AvoidanceRobot Collision Avoidance

    School of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, Guangdong, China