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cs.RO2026
LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials
Oswin So, Eric Yu, Chuchu Fan
Control barrier functions (CBF) are a popular safety filter to ensure safety for nonlinear dynamical systems. However, when the system is subject to uncertainties and disturbances,…
cs.RO2025★ 1 cited
Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions
Ji Yin, Oswin So, Eric Yang Yu +2
A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have show…