Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations

arXiv:2605.30696 · cs.RO, cs.SY, eess.SY · Submitted 2026-05-29 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-05-29

Updated: 2026-10-15

Terminology

• Control Barrier Function — 3× in this paper
• Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 5 episodes

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