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Learning Barrier Functions with Memory for Robust Safe Navigation
v1v2 (latest)

Learning Barrier Functions with Memory for Robust Safe Navigation

3 November 2020
Kehan Long
Cheng Qian
Jorge Cortés
Nikolay Atanasov
ArXiv (abs)PDFHTML

Papers citing "Learning Barrier Functions with Memory for Robust Safe Navigation"

40 / 40 papers shown
Neural NMPC through Signed Distance Field Encoding for Collision Avoidance
Neural NMPC through Signed Distance Field Encoding for Collision AvoidanceThe international journal of robotics research (IJRR), 2025
Martin Jacquet
Marvin Harms
Kostas Alexis
227
2
0
26 Nov 2025
SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planning
SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planning
T. Huang
Armin Lederer
Dai-Jie Wu
X. Dai
Sihua Zhang
Stefan Sosnowski
Shao-Hua Sun
Sandra Hirche
250
2
0
07 Nov 2025
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields
Gilbert Bahati
Ryan M. Bena
Meg Wilkinson
Pol Mestres
Ryan K. Cosner
Aaron D. Ames
137
1
0
29 Oct 2025
Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications
Learning Social Navigation from Positive and Negative Demonstrations and Rule-Based Specifications
Chanwoo Kim
Jihwan Yoon
Hyeonseong Kim
Taemoon Jeong
Changwoo Yoo
...
Hoon Chung
Matthew K. X. J. Pan
Jean Oh
Kyungjae Lee
Sungjoon Choi
145
0
0
14 Oct 2025
Gaussian Process Implicit Surfaces as Control Barrier Functions for Safe Robot Navigation
Gaussian Process Implicit Surfaces as Control Barrier Functions for Safe Robot Navigation
Mouhyemen Khan
Tatsuya Ibuki
A. Chatterjee
136
1
0
14 Oct 2025
SafeFlowMatcher: Safe and Fast Planning using Flow Matching with Control Barrier Functions
SafeFlowMatcher: Safe and Fast Planning using Flow Matching with Control Barrier Functions
Jeongyong Yang
Seunghwan Jang
Soojean Han
184
3
0
29 Sep 2025
ORN-CBF: Learning Observation-conditioned Residual Neural Control Barrier Functions via Hypernetworks
ORN-CBF: Learning Observation-conditioned Residual Neural Control Barrier Functions via Hypernetworks
Bojan Derajić
Sebastian Bernhard
Wolfgang Hönig
180
1
0
20 Sep 2025
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Daş
Rahal Nanayakkara
Xiao Tan
Ryan M. Bena
J. W. Burdick
Paulo Tabuada
Aaron D. Ames
258
2
0
26 Aug 2025
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
Ryan M. Bena
Gilbert Bahati
Blake Werner
Ryan K. Cosner
Lizhi Yang
Aaron D. Ames
142
7
0
15 Aug 2025
PRIMU: Uncertainty Estimation for Novel Views in Gaussian Splatting from Primitive-Based Representations of Error and Coverage
PRIMU: Uncertainty Estimation for Novel Views in Gaussian Splatting from Primitive-Based Representations of Error and Coverage
Thomas Gottwald
Edgar Heinert
Peter Stehr
Chamuditha Jayanga Galappaththige
Matthias Rottmann
3DGSUQCV
428
0
0
04 Aug 2025
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
Hardik Parwana
Taekyung Kim
Kehan Long
Bardh Hoxha
Hideki Okamoto
Georgios Fainekos
Dimitra Panagou
220
2
0
08 Jun 2025
Navigating Polytopes with Safety: A Control Barrier Function Approach
Navigating Polytopes with Safety: A Control Barrier Function ApproachConference on Control Technology and Applications (CCTA), 2025
Tamas G. Molnar
214
3
0
22 May 2025
Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments
Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments
Yuepeng Zhang
Yu Chen
Yuda Li
Shaoyuan Li
Xiang Yin
176
0
0
17 May 2025
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's EquationRobotics (RAS), 2025
Gilbert Bahati
Ryan M. Bena
Aaron D. Ames
492
7
0
11 May 2025
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation
RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation
Satyajeet Das
Yifan Xue
Haoming Li
Nadia Figueroa
467
1
0
04 May 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain
Manas Gupta
Xuesu Xiao
289
4
0
08 Mar 2025
Neural Configuration-Space Barriers for Manipulation Planning and Control
Neural Configuration-Space Barriers for Manipulation Planning and Control
Kehan Long
Ki Myung Brian Lee
Nikola Raicevic
Niyas Attasseri
Melvin Leok
Nikolay Atanasov
417
4
0
06 Mar 2025
SEEV: Synthesis with Efficient Exact Verification for ReLU Neural
  Barrier Functions
SEEV: Synthesis with Efficient Exact Verification for ReLU Neural Barrier FunctionsNeural Information Processing Systems (NeurIPS), 2024
Hongchao Zhang
Zhizhen Qin
Sicun Gao
Andrew Clark
237
13
0
27 Oct 2024
Neural Configuration Distance Function for Continuum Robot Control
Neural Configuration Distance Function for Continuum Robot Control
Kehan Long
Hardik Parwana
Georgios Fainekos
Bardh Hoxha
Hideki Okamoto
Nikolay Atanasov
414
5
0
20 Sep 2024
Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic Environments
Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic EnvironmentsIEEE Transactions on Control Systems Technology (TCST), 2024
Amirsaeid Safari
Jesse B. Hoagg
339
9
0
02 Sep 2024
Neural Control Barrier Functions for Safe Navigation
Neural Control Barrier Functions for Safe NavigationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Marvin Harms
Mihir Kulkarni
Nikhil Khedekar
Martin Jacquet
Kostas Alexis
350
21
0
29 Jul 2024
Enhanced Safety in Autonomous Driving: Integrating Latent State
  Diffusion Model for End-to-End Navigation
Enhanced Safety in Autonomous Driving: Integrating Latent State Diffusion Model for End-to-End Navigation
Detian Chu
Linyuan Bai
Jianuo Huang
Zhenlong Fang
Peng Zhang
Wei Kang
Haifeng Lin
443
5
0
08 Jul 2024
CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic
  Environments Using Control Barrier and Lyapunov Functions
CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov FunctionsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Kazuki Mizuta
Karen Leung
328
30
0
08 Jun 2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long
Yinzhuang Yi
Zhirui Dai
Sylvia Herbert
Jorge Cortés
Nikolay Atanasov
851
15
0
28 May 2024
Distributionally Robust Policy and Lyapunov-Certificate Learning
Distributionally Robust Policy and Lyapunov-Certificate Learning
Kehan Long
Jorge Cortés
Nikolay Atanasov
319
5
0
03 Apr 2024
Online Efficient Safety-Critical Control for Mobile Robots in Unknown
  Dynamic Multi-Obstacle Environments
Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments
Yu Zhang
Guangyao Tian
Long Wen
Xiangtong Yao
Liding Zhang
Zhenshan Bing
Wei He
Alois Knoll
220
11
0
26 Feb 2024
Learning Input Constrained Control Barrier Functions for Guaranteed
  Safety of Car-Like Robots
Learning Input Constrained Control Barrier Functions for Guaranteed Safety of Car-Like Robots
Sven Brüggemann
Dominic Nightingale
Jack Silberman
Maurício de Oliveira
370
0
0
19 Feb 2024
EAST: Environment Aware Safe Tracking using Planning and Control Co-Design
EAST: Environment Aware Safe Tracking using Planning and Control Co-DesignAutonomous Robots (Auton. Robots), 2023
Zhichao Li
Yinzhuang Yi
Zhuolin Niu
Nikolay Atanasov
233
2
0
02 Oct 2023
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical
  Environments
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical EnvironmentsAmerican Control Conference (ACC), 2023
Kehan Long
Khoa Tran
Melvin Leok
Nikolay Atanasov
267
5
0
30 Sep 2023
Physics-Informed Machine Learning for Modeling and Control of Dynamical
  Systems
Physics-Informed Machine Learning for Modeling and Control of Dynamical SystemsAmerican Control Conference (ACC), 2023
Truong X. Nghiem
Ján Drgoňa
Colin N. Jones
Zoltán Nagy
Roland Schwan
...
J. Paulson
Andrea Carron
Melanie Zeilinger
Wenceslao Shaw-Cortez
D. Vrabie
PINNAI4CE
285
67
0
24 Jun 2023
In-Distribution Barrier Functions: Self-Supervised Policy Filters that
  Avoid Out-of-Distribution States
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution StatesConference on Learning for Dynamics & Control (L4DC), 2023
F. Castañeda
Haruki Nishimura
R. McAllister
Koushil Sreenath
Adrien Gaidon
OffRL
366
25
0
27 Jan 2023
Geometry of Radial Basis Neural Networks for Safety Biased Approximation
  of Unsafe Regions
Geometry of Radial Basis Neural Networks for Safety Biased Approximation of Unsafe RegionsAmerican Control Conference (ACC), 2022
Ahmad Abuaish
Mohit Srinivasan
Patricio A. Vela
392
3
0
11 Oct 2022
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized
  Safe Navigation of Multiple Robots in Unknown Environments
NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Amir Salimi Lafmejani
Spring Berman
Georgios Fainekos
143
17
0
16 Aug 2022
Conditional-Flow NeRF: Accurate 3D Modelling with Reliable Uncertainty
  Quantification
Conditional-Flow NeRF: Accurate 3D Modelling with Reliable Uncertainty QuantificationEuropean Conference on Computer Vision (ECCV), 2022
Jianxiong Shen
Antonio Agudo
Francesc Moreno-Noguer
Adria Ruiz
AI4CE
312
78
0
18 Mar 2022
Safe Control Synthesis with Uncertain Dynamics and Constraints
Safe Control Synthesis with Uncertain Dynamics and ConstraintsIEEE Robotics and Automation Letters (RA-L), 2022
Kehan Long
Vikas Dhiman
Melvin Leok
Jorge Cortés
Nikolay Atanasov
441
35
0
19 Feb 2022
Neural Fields in Visual Computing and Beyond
Neural Fields in Visual Computing and Beyond
Yiheng Xie
Towaki Takikawa
Forrest Iandola
Or Litany
Shiqin Yan
Numair Khan
Federico Tombari
James Tompkin
Vincent Sitzmann
Srinath Sridhar
3DH
1.1K
761
0
22 Nov 2021
Learning Robust Output Control Barrier Functions from Safe Expert
  Demonstrations
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations
Lars Lindemann
Avi Schwarzschild
Lejun Jiang
Satyajeet Das
Stephen Tu
Nikolai Matni
302
61
0
18 Nov 2021
Reactive and Safe Road User Simulations using Neural Barrier
  Certificates
Reactive and Safe Road User Simulations using Neural Barrier Certificates
Yue Meng
Zengyi Qin
Chuchu Fan
307
20
0
14 Sep 2021
Safety-Critical Learning of Robot Control with Temporal Logic
  Specifications
Safety-Critical Learning of Robot Control with Temporal Logic SpecificationsIEEE Transactions on Automatic Control (IEEE TAC), 2021
Mingyu Cai
C. Vasile
442
8
0
07 Sep 2021
Safety Embedded Differential Dynamic Programming Using Discrete Barrier
  States
Safety Embedded Differential Dynamic Programming Using Discrete Barrier StatesIEEE Robotics and Automation Letters (RA-L), 2021
Hassan Almubarak
Kyle Stachowicz
N. Sadegh
Evangelos A. Theodorou
324
37
0
30 May 2021
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