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cs.RO2026
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
Taekyung Kim, Hun Kuk Park, Renya Wada +3
Robots navigating under occlusion may enter states from which no admissible input can avoid a dynamic obstacle once it becomes visible. We present OcclusionCBF, a safety filter tha…
cs.RO2025
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
Hun Kuk Park, Taekyung Kim, Dimitra Panagou
Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments rema…