Pith Number

pith:NTFGHXWS

pith:2026:NTFGHXWSBMXMP5O7KPBJOK2N26

not attested not anchored not stored refs pending

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

Alina Bartaula, Basanta Joshi, Biman Rimal, Dhirendra Raj Madai, Himanshu Paudel, Sanjay Neupane

A dual-barrier CBF safety filter derived from occupancy grid signed distance fields enforces both obstacle avoidance and frontier restriction for holonomic robots in unknown environments.

arxiv:2605.05182 v2 · 2026-05-06 · cs.RO · cs.SY · eess.SY

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\usepackage{pith}
\pithnumber{NTFGHXWSBMXMP5O7KPBJOK2N26}

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3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We present a dual-barrier control barrier function (CBF) safety filter for real-time, safety-critical velocity control of holonomic robots operating in incrementally built occupancy grid maps... Both constraints are derived analytically from the occupancy grid's signed distance field, yielding a closed-form safety filter that requires only a small linear system solve per cycle... Hardware flight experiments on a PX4-controlled quadrotor demonstrate zero collisions across multiple indoor runs.

C2weakest assumption

The assumption that the signed distance field computed from the incrementally built occupancy grid sufficiently captures obstacle geometry and that restricting entry into unexplored regions adequately mitigates collision risk from unknown obstacles beyond the frontier, especially with front-facing sensors.

C3one line summary

A closed-form dual-barrier CBF safety filter for holonomic robots on incremental occupancy grids enforces avoidance of mapped obstacles and unexplored regions with low overhead and zero collisions in quadrotor hardware tests.

Receipt and verification

First computed	2026-05-26T01:03:32.361978Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6cca63ded20b2ec7f5df53c2972b4dd7b6d9dcef844d78a0fde9d763263ccfcb

Aliases

arxiv: 2605.05182 · arxiv_version: 2605.05182v2 · doi: 10.48550/arxiv.2605.05182 · pith_short_12: NTFGHXWSBMXM · pith_short_16: NTFGHXWSBMXMP5O7 · pith_short_8: NTFGHXWS

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/NTFGHXWSBMXMP5O7KPBJOK2N26 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 6cca63ded20b2ec7f5df53c2972b4dd7b6d9dcef844d78a0fde9d763263ccfcb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ffbaaab81911292f8dd684d64430b128a2a7bc7833886affa466c87617a1ecf3",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-06T17:49:17Z",
    "title_canon_sha256": "9e8c6852316aaa14cdfe9f833ab89cffc92c9d15d229cd38289019fe2b89dd0a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.05182",
    "kind": "arxiv",
    "version": 2
  }
}