Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control

arXiv:2606.00297 · eess.SY, cs.RO, cs.SY · Submitted 2026-05-29 · Read on arXiv

eess.SY, cs.RO, cs.SY

Submitted: 2026-05-29

Updated: 2026-09-21

Code: https://github.com/oogle/trajax

Project page: https://amirsaeid254.github.io/FlowBarrier

Terminology

• American Control Conference — 3× in this paper
• Control Barrier Functions (CBFs) — 3× in this paper · explained in 4 episodes
• Adjoint Method — 2× in this paper · explained in 1 episode
• Regularization — 2× in this paper · explained in 3 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
• Core — 1× in this paper · explained in 2 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• IEEE Conference on Decision and Control — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability
• A Closed-Form Control for Safety Under Input Constraints Using a Composition of Control Barrier Functions
• Receding-Horizon Nonlinear Optimal Control With Safety Constraints Using Constrained Approximate Dynamic Programming
• Predictive Synthesis of Control Barrier Functions and its Application to Time-Varying Constraints

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