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cs.RO2026
LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference
Maitham F. AL-Sunni, Timeea-Andreea Radu, Hassan Almubarak +4
Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matter…
cs.RO2026
LLA-MPC on Embedded Hardware: Rapid Adaptive Control with Thousands of Parallel Models
Henry Z. Liao, Maitham F. AL-Sunni, John M. Dolan
We present a generalized implementation of Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a learning-free framework for real-time, rapid adaptive system iden…