Control Barrier Functions

Also known as CBF

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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. 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

  2. Response-Aware Risk-Constrained Control Barrier Function With Application to Vehicles

    Mar 13, 2026Qijun Liao, Jue YangSafety-Critical ControlControl Barrier Functions

    School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

  3. Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control

    Mar 11, 2026Matti Vahs, Joris Verhagen, Jana TumovaPartially Observable Markov Decision ProcessesBelief-Space Planning

    Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Digital Futures

  4. Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Control

    Mar 11, 2026Jake Gonzales, Kazuki Mizuta, Karen Leung +1Human-Robot InteractionSafe Robot Navigation

    University of Washington, Department of Electrical and Computer Engineering · University of Washington, Department of Aeronautics and Astronautics

  5. PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

    Mar 11, 2026Eugene Ku, Yiwei LyuConstrained Motion PlanningTrajectory Generation

    Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

  6. Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing

    Mar 10, 2026Peiyu Yang, Jiatao Ding, Wei Pan +2Terrain-Aware Robot LocomotionQuadruped Locomotion

    Dynamic Legged Systems, Istituto Italiano di Tecnologia (IIT), Italy · Department of Industrial Engineering, University of Trento, Italy · Department of Computer Science, University of Manchester, UK +2

  7. Formation-Aware Adaptive Conformalized Perception for Safe Leader-Follower Multi-Robot Systems

    Mar 9, 2026Richie R. Suganda, Bin HuRobot SafetyMulti-Robot Formation Control

    Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA. · Department of Engineering Technology, University of Houston, Houston, TX 77004, USA.

  8. SSP: Safety-guaranteed Surgical Policy via Joint Optimization of Behavioral and Spatial Constraints

    Mar 7, 2026Jianshu Hu, ZhiYuan Guan, Lei Song +5Robot SafetySurgical Robotics

    Global College, Shanghai Jiao Tong University, Shanghai, China · Department of Computer Science and Engineering, The Chinese University of Hong Kong, HongKong, China · Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Massachusetts, America

  9. Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions

    Mar 7, 2026Taekyung KimControl Barrier FunctionsSafety-Critical Control

    Department of Robotics, University of Michigan, Ann Arbor, MI, 48109, USA

  10. CN-CBF: Composite Neural Control Barrier Function for Robot Navigation in Dynamic Environments

    Mar 6, 2026Bojan Derajić, Sebastian Bernhard, Wolfgang HönigControl Barrier FunctionsSafe Robot Navigation

    Technical University of Berlin, Germany · AUMOVIO, Germany · Robotics Institute Germany (RIG), Germany

  11. Control Barrier Corridors: From Safety Functions to Safe Sets

    Mar 6, 2026Ömür Arslan, Nikolay AtanasovControl Barrier FunctionsSafe Motion Planning

    Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands. · Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA.

  12. Safe Consensus of Cooperative Manipulation with Hierarchical Event-Triggered Control Barrier Functions

    Mar 6, 2026Simiao Zhuang, Bingkun Huang, Zewen YangControl Barrier FunctionsMulti-Agent Control

    Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), 80992 Munich, Germany

  13. Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes

    Mar 6, 2026Shuo Liu, Zhe Huang, Calin A. BeltaRobot Collision AvoidanceSafe Motion Planning

    Boston University, Brookline, MA, USA · Department of Electrical and Computer Engineering and with the Department of Computer Science, University of Maryland, College Park, MD, USA

  14. Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions

    Mar 5, 2026Lizhi Yang, Ryan M. Bena, Meg Wilkinson +4Robot NavigationControl Barrier Functions

    Caltech MCE · Tufts ME

  15. A Safety-Aware Shared Autonomy Framework with BarrierIK Using Control Barrier Functions

    Mar 2, 2026Berk Guler, Kay Pompetzki, Yuanzheng Sun +2Shared AutonomyRobot Collision Avoidance

    Technical University of Darmstadt · Honda Research Institute Europe GmbH · German Research Center for Artificial Intelligence (DFKI) +2

  16. Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters

    Feb 27, 2026Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati +1Safety-Critical ControlControl Barrier Functions

    Department of Mechanical and Civil Engineering and the Department of Aerospace, Caltech, Pasadena, CA 91125, USA

  17. SAGE-LLM: Towards Safe and Generalizable LLM Controller with Fuzzy-CBF Verification and Graph-Structured Knowledge Retrieval for UAV Decision

    Feb 27, 2026Wenzhe Zhao, Yang Zhao, Ganchao Liu +4Language Model-Based ControlLLM Agent Safety

    School of Artificial Intelligence, OPtics and ElectroNics (iOPEN), Northwestern Polytechnical University, Xi’an 710072, China · Institute of Artificial Intelligence (TeleAI), China Telecom, China

  18. Refining Almost-Safe Value Functions on the Fly

    Feb 26, 2026Sander Tonkens, Sosuke Kojima, Chenhao Liu +2Safety-Critical ControlControl Barrier Functions

    University of California, San Diego

  19. BarrierSteer: LLM Safety via Learning Barrier Steering

    Feb 23, 2026Thanh Q. Tran, Arun Verma, Kiwan Wong +3LLM SafetyAdversarial Robustness of Language Models

    Department of Computer Science, National University of Singapore, Republic of Singapore · Singapore-MIT Alliance for Research and Technology Centre, Republic of Singapore · CSAIL, Massachusetts Institute of Technology, USA +1

  20. SQ-CBF: Signed Distance Functions for Reliable Superquadric-Based Safety Filtering

    Feb 11, 2026Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2Safety FilteringControl Barrier Functions

    Learning Systems and Robotics Lab, Technical University of Munich, 80333 Munich, Germany, and also with Simon Fraser University, Burnaby, BC V5A 1S6, Canada

  21. How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints

    Nov 23, 2025Kensuke Nakamura, Arun L. Bishop, Steven Man +3Safety FilteringControl Barrier Functions

    Carnegie Mellon University

  22. Least Restrictive Hyperplane Control Barrier Functions

    Oct 21, 2025Mattias Trende, Petter ÖgrenSafety-Critical ControlControl Barrier Functions

    The authors are with the Robotics, Perception and Learning Lab., School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden

  23. CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions

    Oct 16, 2025Lizhi Yang, Blake Werner, Massimiliano de Sa +1RL for RoboticsControl Barrier Functions

    Caltech MCE

  24. BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields

    Jun 8, 2025Hardik Parwana, Taekyung Kim, Kehan Long +4Constrained Motion PlanningControl Barrier Functions

    Robotics Department, University of Michigan, Ann Arbor, MI 48109, USA · Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA. · Toyota Motor North America, Research & Development, Ann Arbor, MI 48105, USA.

  25. SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics

    May 16, 2025Lizhi Yang, Blake Werner, Ryan K. Cosner +3Control Barrier FunctionsHumanoid Robot Control

    Mechanical and Civil Engineering, California Institute of Technology · Aerospace Engineering and Engineering Mechanics, UT Austin · Computer Science, Cornell University

  26. Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions

    Mar 19, 2025Songqiao Hu, Zidong Wang, Zeyi Liu +2Safety-Critical ControlControl Barrier Functions

    Department of Automation and the Institute for Embodied Intelligence and Robotics, Tsinghua University, Beijing 100084, China · Department of Computer Science, Brunel University London, UB8 3PH Uxbridge, U.K. · State Key Laboratory of Multimodal Artificial Intelligence Systems, Beijing Engineering Research Center of Intelligent Systems and Technology, Institute of Automation, Chinese Academy of Sciences, Beijing, China

  27. No Undesirable Equilibria, No Collisions: Combining Modulation and Control Barrier Functions for Liveness and Safety in Dynamic Collision Avoidance

    Feb 20, 2025Yifan Xue, Nadia FigueroaControl Barrier FunctionsSafety-Critical Control

    the Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104 USA

  28. Safe Learning Control with Optimality and Stability Guarantees

    Jan 26, 2025Xinyang Wang, Hongwei Zhang, Shimin Wang +2Control Barrier FunctionsRobust Control

    Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments, School of Intelligence Science and Engineering, Harbin Institute of Technology, Shenzhen, Guangdong 518055, China · School of Data Science, Lingnan University, Hong Kong · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, with M3S, SMART, and with MIT CSAIL +1

  29. OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles

    May 17, 2024Golnaz Raja, Miloš Prágr, Topi Reino Johannes Kärki +2Mobile RoboticsControl Barrier Functions

    Faculty of Engineering and Natural Sciences, Tampere University, Kalevantie 4, 33100 Tampere, Finland