Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2026
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866909046667214848 |
|---|---|
| author | Sankaranarayanan, Viswa Narayanan Viswanathan, Vignesh K. Saradagi, Akshit Satpute, Sumeet Nikolakopoulos, George |
| author_facet | Sankaranarayanan, Viswa Narayanan Viswanathan, Vignesh K. Saradagi, Akshit Satpute, Sumeet Nikolakopoulos, George |
| contents | In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates a 3D LIDAR perception-based composite control barrier function(CBF)-based safety filter directly into the autonomy pipeline. The proposed perception-driven framework enforces collision avoidance constraints dynamically from onboard point cloud data, thus allowing a large number of constraints to be handled at the control frequency, while remaining minimally invasive to nominal task execution. The safety region is defined as an ellipsoid in the body-frame, consistent with the geometry of the platform, which induces time-varying constraints in the world frame as the robot rotates; this effect is handled through a dedicated formulation of time-varying (CBF) for each LIDAR point. We validate the system through multiple field experiments in underground environments by utilizing a quadruped platform performing a visual inspection task, demonstrating reliable operation in the presence of dynamic obstacles, unsafe high-level references, abrupt localization anomalies, and while traversing through narrow corridors. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_15782 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments Sankaranarayanan, Viswa Narayanan Viswanathan, Vignesh K. Saradagi, Akshit Satpute, Sumeet Nikolakopoulos, George Robotics Systems and Control In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates a 3D LIDAR perception-based composite control barrier function(CBF)-based safety filter directly into the autonomy pipeline. The proposed perception-driven framework enforces collision avoidance constraints dynamically from onboard point cloud data, thus allowing a large number of constraints to be handled at the control frequency, while remaining minimally invasive to nominal task execution. The safety region is defined as an ellipsoid in the body-frame, consistent with the geometry of the platform, which induces time-varying constraints in the world frame as the robot rotates; this effect is handled through a dedicated formulation of time-varying (CBF) for each LIDAR point. We validate the system through multiple field experiments in underground environments by utilizing a quadruped platform performing a visual inspection task, demonstrating reliable operation in the presence of dynamic obstacles, unsafe high-level references, abrupt localization anomalies, and while traversing through narrow corridors. |
| title | Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2605.15782 |