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cs.RO2026
Learning Reachability-Based Safety Representations for Real-Time Robot Navigation in Unknown and Dynamic Environments
Bojan Derajić
Safe robot navigation in unknown, dynamic environments requires more than geometric collision checking: a robot still far from an obstacle may be unable to avoid it because of its…
cs.RO2026
VertexCBF: Improving Neural Control Barrier Functions via Vertex-Restricted Control Search
Bojan Derajić, Sebastian Bernhard, Wolfgang Hönig
As the number of autonomous robots continues to grow, safety becomes increasingly important. Control barrier functions (CBFs) provide a theoretically grounded framework for ensurin…
cs.RO2026
CN-CBF: Composite Neural Control Barrier Function for Robot Navigation in Dynamic Environments
Bojan Derajić, Sebastian Bernhard, Wolfgang Hönig
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One prevalent approach is safety filtering b…