Timely Activation of Safety Filters via One-Step Reachability Expansion

arXiv:2609.17904 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Code: https://github.com/HJReachability/helperOC

Terminology

• Backward Reachable Tube — 3× in this paper
• Hybrid System — 3× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Least Restrictive Filter — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes
• Tube Model Predictive Control — 1× in this paper
• Verification — 1× in this paper · explained in 2 episodes

Sources

• One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments

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