Safety-Critical Control

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

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Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
May 13, 2026Daniel M. Cherenson, Haejoon Lee, Taekyung Kim +1Safety-Critical Control Distributionally Robust Optimization
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Shields to Guarantee Probabilistic Safety in MDPs
May 11, 2026Linus Heck, Filip Macák, Roman Andriushchenko +2Markov Decision Processes Safety-Critical Control
Radboud University, Nijmegen, the Netherlands · Brno University of Technology, Czechia
Safety Certification is Classification
May 7, 2026Oliver Schön, Licio Romao, Sadegh SoudjaniKernel Mean Embeddings Dynamical Systems
ETH Zürich · Zürich, Switzerland · Technical University of Denmark +3
Maximal Controlled Invariant-MPC: Enhancing Feasibility and Reducing Conservatism through Terminal CBF Constraint in Safety-Critical Control
May 7, 2026Tanmay Dokania, Yashwanth Kumar NakkaDynamical Systems Safety-Critical Control
Graduate Student, Daniel Guggenheim School of Aerospace Engineering. · Assistant Professor, Director, Aerospace Robotics Lab, Daniel Guggenheim School of Aerospace Engineering.
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 Control Control Barrier Functions
Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control
May 5, 2026Yoshinari Takayama, Alessio Iovine, Bart Besselink +2Safety-Critical Control
Laboratory of Signals and Systems (L2S), CNRS, CentraleSupelec, Paris-Saclay University, France · Bernoulli Institute for Mathematics, Computer Science, and Artificial Intelligence, University of Groningen, The Netherlands · College of Computing, University Mohammed VI Polytechnic, Benguerir, Morocco
Synergistic Simplex: Cooperative Runtime Assurance for Safety-Critical Autonomous Systems
May 5, 2026Ayoosh Bansal, Mikael Yeghiazaryan, Artyom Khachatryan +4Safety-Critical Control Autonomous Driving
University of Illinois Urbana-Champaign (UIUC), Urbana, IL, USA · Center for Scientific Innovation and Education (CSIE), Yerevan, Armenia · California Institute of Technology (Caltech), Pasadena, CA, USA +1
Differentiable Optimization Layered Safety-Critical Control for Risk-Aware Navigation via Conformal Prediction
May 5, 2026Jinyang Dong, Shizhen Wu, Yongchun FangSafety-Critical Control Control 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
Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics
May 5, 2026James Yen, Zhibai Huang, Zhixiang Wei +5Safety-Critical Control Robotics
Shanghai Jiao Tong University, Shanghai, China · OpenMind, China
Executor-Side Progressive Risk-Gated Actuation for Agentic AI in Wireless Supervisory Control
May 4, 2026Zhenyu Liu, Yi Ma, Rahim TafazolliSafety-Critical Control AI Agent Safety
6GIC, Institute for Communication Systems, University of Surrey, Guildford, United Kingdom, GU2 7XH
Set-Based Training of Neural Barrier Certificates for Safety Verification of Dynamical Systems
May 4, 2026Miriam Kranzlmüller, Lukas Koller, Tobias Ladner +1Neural Network Verification Safety-Critical Control
Technical University of Munich, Germany · Ludwig-Maximilians-Universität in Munich, Germany
Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
May 1, 2026Jiaxing Li, Hanjiang Hu, Zhuoyuan Wang +2Safety-Critical Control Deformable Object Manipulation
Carnegie Mellon University, Pittsburgh, PA, USA
Autonomous Systems Dependability in the era of AI: Design Challenges in Safety, Security, Reliability and Certification
Apr 30, 2026Behnaz Ranjbar, Kirankumar Raveendiran, Sudeep Pasricha +3AI Assurance Safety-Critical Control
Chair of Embedded Systems, Ruhr Universität Bochum, Germany · Colorado State University, US · The University of North Carolina at Chapel Hill, US, and The TUM Institute for Advanced Study, Germany +1
VISION-SLS: Safe Perception-Based Control from Learned Visual Representations via System Level Synthesis
Apr 27, 2026Antoine P. Leeman, Shuyu Zhan, Melanie N. Zeilinger +1Safety-Critical Control Robust Control
Institute for Dynamic Systems and Control, ETH Zürich · Georgia Institute of Technology, Schools of 2Interactive Computing, 3Aerospace Engineering
LLM-Augmented Traffic Signal Control with LSTM-Based Traffic State Prediction and Safety-Constrained Decision Support
Apr 26, 2026Jiazhao ShiLanguage Model-Based Control Safety-Critical Control
Tandon School of Engineering, New York University, 6 MetroTech Center, Brooklyn, NY 11201, USA
Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Apr 26, 2026Hao Wang, Nam Nguyen, Armand Jordana +2Robotic Control Safety-Critical Control
Ming Hsieh Department of Electrical and Computer Engineering, University of Southern California · Department of Aeronautics and Astronautics, Stanford University · Electrical and Computer Engineering Department, New York University
Grammar-Constrained Refinement of Safety Operational Rules Using Language in the Loop: What Could Go Wrong
Apr 26, 2026Khouloud Gaaloul, Zaid Ghazal, Madhu Latha Pulimi +1Cyber-Physical Systems Safety-Critical Control
University of Michigan–Dearborn Dearborn, MI, USA
Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
Apr 24, 2026Aayushi Shrivastava, Kartik Nagpal, Sairam Jinkala +2Dynamical Systems Safety-Critical Control
Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94709, USA
Interval POMDP Shielding for Imperfect-Perception Agents
Apr 22, 2026William Scarbro, Ravi MangalSafety-Critical Control AI Agent Safety
Department of Computer Science Colorado State University Fort Collins, USA
Safety-Critical Contextual Control via Online Riemannian Optimization with World Models
Apr 21, 2026Tongxin LiRiemannian Optimization Safety-Critical Control
Member, IEEE
Safe Control using Learned Safety Filters and Adaptive Conformal Inference
Apr 20, 2026Sacha Huriot, Ihab Tabbara, Hussein SibaiSafety-Critical Control Conformal Prediction
Computer Science & Engineering Washington University in St. Louis
Harness as an Asset: Enforcing Determinism via the Convergent AI Agent Framework (CAAF)
Apr 18, 2026Tianbao ZhangSafety-Critical Control LLM Guardrails
Independent Researcher
Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty
Apr 4, 2026Clinton Enwerem, John S. Baras, Calin BeltaBelief-Space Planning Safety-Critical Control
Institute for Systems Research, University of Maryland, College Park, MD, USA
Safe learning-based control via function-based uncertainty quantification
Apr 1, 2026Abdullah Tokmak, Toni Karvonen, Thomas B. Schön +1Uncertainty Quantification Safety-Critical Control
Cyber-physical Systems Group, Aalto University, Espoo, Finland · School of Engineering Sciences, Lappeenranta–Lahti University of Technology LUT, Lappeenranta, Finland · Department of Information Technology, Uppsala University, Uppsala, Sweden
Agentic Physical AI toward a Domain-Specific Foundation Model for Energy Systems: A Case Study on Nuclear Reactor Control
Dec 29, 2025Yoon Pyo Lee, Samrendra Roy, Kazuma Kobayashi +5Language Model-Based Control Safety-Critical Control
The Grainger College of Engineering, Nuclear, Plasma & Radiological Engineering, University of Illinois Urbana-Champaign, Urbana, IL, USA · Department of Nuclear Engineering, Hanyang University, Republic of Korea · University of Texas - El Paso, University Ave, El Paso, USA +4
SB-TRPO: Towards Safe Reinforcement Learning with Hard Constraints
Dec 29, 2025Dominik Wagner, Ankit Kanwar, Luke OngSafety-Critical Control Policy Optimization
NTU Singapore · Sony Corporation
Least Restrictive Hyperplane Control Barrier Functions
Oct 21, 2025Mattias Trende, Petter ÖgrenSafety-Critical Control Control 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
Captivity-Escape Games as a Means for Safety in Online Motion Generation
Jun 2, 2025Christopher Bohn, Manuel Hess, Sören HohmannTrajectory Generation Safety-Critical Control
Institute of Control Systems, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany
Learning-based Adaptive Safety-Critical Control With Evolving Unsafe Regions
Mar 19, 2025Songqiao Hu, Zidong Wang, Zeyi Liu +2Safety-Critical Control Control 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
From Uncertain to Safe: Conformal Adaptation of Diffusion Models for Safe PDE Control
Feb 4, 2025Peiyan Hu, Xiaowei Qian, Wenhao Deng +8Diffusion Model Guidance Safety-Critical Control
Work done as an intern at Westlake University · Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China · School of Engineering, Westlake University, Hangzhou, China +2

May 13, 2026, cs.ROJ/K move · Enter open · S save

Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach

Daniel M. Cherenson, Haejoon Lee, Taekyung Kim, Dimitra Panagou

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

Safety-Critical Control Distributionally Robust Optimization Safety Filtering Wasserstein Distributionally Robust Optimization

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In this work, we study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approach builds on a backup-based safety filtering framework that switches between a high-performance nominal policy and a certified backup policy to ensure safety. To handle arbitrary uncertainties from ambiguous distributions, i.e., where the distribution is not of specific structure and the true distribution is unknown, we adopt a distributionally robust (DR) formulation using Wasserstein ambiguity sets. Rather than solving a high-dimensional DR trajectory optimization problem online, we exploit the structure of backup-based safety filtering to reduce safety certification to a one-dimensional search over the switching time between nominal and backup policies. We then develop a sampling-based certification procedure with finite-sample guarantees, where empirical failure probabilities are compared against a Wasserstein-inflated threshold. We validate our method through simulations across three systems, from a Dubins vehicle to a high-speed racing car and a fighter jet, demonstrating the broad applicability and computational efficiency.

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