A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties

arXiv:2603.26999 · eess.SY, cs.SY · Submitted 2026-03-27 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-03-27

Updated: 2026-09-15

Code: https://github.com/rahalnanayakkara/duality-based-safety-filters

Terminology

• Control Barrier Function — 14× in this paper
• American Control Conference — 2× in this paper
• Closed-Loop System — 2× in this paper · explained in 4 episodes
• Control Barrier Function (CBF) — 2× in this paper · explained in 5 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Control Barrier Functions (CBF) — 1× in this paper · explained in 2 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes

Sources

• Safety Under State Uncertainty: Robustifying Control Barrier Functions
• Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions

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