Cover Image

Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Kim, Taekyung, Okamoto, Hideki, Hoxha, Bardh, Fainekos, Georgios, Panagou, Dimitra
Format:	Preprint
Published:	2026
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
by: Parwana, Hardik, et al.
Published: (2025)

Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations
by: Hoxha, Bardh, et al.
Published: (2026)

Safe Model Predictive Diffusion with Shielding
by: Kim, Taekyung, et al.
Published: (2025)

CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
by: Black, Mitchell, et al.
Published: (2024)

Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty
by: Black, Mitchell, et al.
Published: (2024)

Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
by: Wang, Xinyi, et al.
Published: (2026)

Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
by: Kim, Taekyung, et al.
Published: (2024)

Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
by: Kim, Taekyung, et al.
Published: (2026)

Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
by: Parwana, Hardik, et al.
Published: (2023)

Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
by: Yang, Shuo, et al.
Published: (2023)

Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
by: Parwana, Hardik, et al.
Published: (2024)

GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
by: Majd, Keyvan, et al.
Published: (2025)

Neural Configuration Distance Function for Continuum Robot Control
by: Long, Kehan, et al.
Published: (2024)

Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions
by: Wang, Xinyi, et al.
Published: (2025)

Robust Conformal Prediction for STL Runtime Verification under Distribution Shift
by: Zhao, Yiqi, et al.
Published: (2023)

Distributionally Robust Safety Under Arbitrary Uncertainties: A Safety Filtering Approach
by: Cherenson, Daniel M., et al.
Published: (2026)

Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications
by: Zhao, Yiqi, et al.
Published: (2025)

SMT-Based Dynamic Multi-Robot Task Allocation
by: Tuck, Victoria Marie, et al.
Published: (2024)

Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
by: Kim, Taekyung, et al.
Published: (2024)

Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
by: Park, Hun Kuk, et al.
Published: (2025)

Scaling Learning based Policy Optimization for Temporal Logic Tasks by Controller Network Dropout
by: Hashemi, Navid, et al.
Published: (2024)

How to Adapt Control Barrier Functions? A Learning-Based Approach with Applications to a VTOL Quadplane
by: Kim, Taekyung, et al.
Published: (2025)

MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
by: Tuck, Victoria Marie, et al.
Published: (2025)

Risk-aware MPPI for Stochastic Hybrid Systems
by: Parwana, Hardik, et al.
Published: (2024)

Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions
by: Kim, Taekyung
Published: (2026)

Spatio-Temporal Grounding of Large Language Models from Perception Streams
by: Anderson, Jacob, et al.
Published: (2026)

Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications
by: Agrawal, Devansh R., et al.
Published: (2025)

FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization
by: Parwana, Hardik, et al.
Published: (2022)

gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
by: Agrawal, Devansh R, et al.
Published: (2022)

Distributed Resilience-Aware Control in Multi-Robot Networks
by: Lee, Haejoon, et al.
Published: (2025)

Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
by: Lee, Haejoon, et al.
Published: (2024)

Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
by: Agrawal, Devansh R., et al.
Published: (2025)

Staggered Integral Online Conformal Prediction for Safe Dynamics Adaptation with Multi-Step Coverage Guarantees
by: Cherenson, Daniel M., et al.
Published: (2026)

Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
by: Agrawal, Devansh R., et al.
Published: (2024)

Querying Perception Streams with Spatial Regular Expressions
by: Anderson, Jacob, et al.
Published: (2024)

Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0
by: Miao, Yan, et al.
Published: (2025)

Optimal Planning for Timed Partial Order Specifications
by: Watanabe, Kandai, et al.
Published: (2024)

Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
by: Cherenson, Daniel M., et al.
Published: (2025)

Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
by: Zhou, Minnan, et al.
Published: (2024)

Feasibility Analysis and Constraint Selection in Optimization-Based Controllers
by: Rousseas, Panagiotis, et al.
Published: (2025)