Derives a closed-form dual-barrier CBF safety filter from occupancy-grid signed distance fields that restricts both mapped obstacles and unexplored regions while composing with arbitrary nominal controllers.
Control barrier functions for stochastic systems
2 Pith papers cite this work. Polarity classification is still indexing.
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.
citing papers explorer
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A Closed-Form Dual-Barrier CBF Safety Filter for Holonomic Robots on Incrementally Built Occupancy Grid Maps
Derives a closed-form dual-barrier CBF safety filter from occupancy-grid signed distance fields that restricts both mapped obstacles and unexplored regions while composing with arbitrary nominal controllers.
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Safety-critical Control Under Partial Observability: Reach-Avoid POMDP meets Belief Space Control
A modular belief-space controller using learned Belief Control Lyapunov Functions for information gathering and conformal-prediction Belief Control Barrier Functions for safety reduces reach-avoid POMDP synthesis to fast quadratic programs.