Safety Under State Uncertainty: Robustifying Control Barrier Functions

arXiv:2508.17226 · eess.SY, cs.SY · Submitted 2025-08-24 · Read on arXiv

eess.SY, cs.SY

Submitted: 2025-08-24

Updated: 2026-09-16

Terminology

• Robustness — 30× in this paper · explained in 5 episodes
• Control Barrier Function — 28× in this paper
• Closed-Loop System — 13× in this paper · explained in 4 episodes
• Convergence Guarantees — 4× in this paper · explained in 3 episodes
• Control Barrier Functions (CBFs) — 3× in this paper · explained in 4 episodes
• Control Barrier Function (CBF) — 2× in this paper · explained in 5 episodes
• Graceful Degradation — 2× in this paper · explained in 2 episodes
• Quadratic Program — 2× in this paper
• Adam — 1× in this paper · explained in 2 episodes
• American Control Conference — 1× in this paper
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Related papers

• One Request, Multiple Experts: LLM Orchestrates Domain Specific Models via Adaptive Task Routing
• A Geometric Decision Procedure for STL Feasibility and Repair
• Submodular Multi-Agent Policy Learning for Online Distributed Task Allocation in Open Multi-Agent Systems
• Policy-Level Recursive Self-Improvement for Embodied AI with a Criticality World Model
• Minimal Experiments for Robust Stabilization: Information, Spectral Geometry, and Duration
• Decentralized Power-Optimal Coordination for Spacecraft Swarms Using Time-Varying Magnetorquer Actuation