Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations

arXiv:2605.30696 · cs.RO, cs.SY, eess.SY · Submitted 2026-05-29 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-05-29

Updated: 2026-10-15

Comments: Accepted by 2026 IEEE International Conference on Robotics and Automation (ICRA 2026). Project page: https://bp-sdf-cbf.github.io/

Journal ref: 2026 IEEE International Conference on Robotics and Automation (ICRA), pp. 10449-10456

DOI: 10.1109/ICRA57385.2026.11696181

Project page: https://bp-sdf-cbf.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Control Barrier Function — 16× in this paper
Signed Distance Fields — 4× in this paper
Control Barrier Functions (CBFs) — 2× in this paper · explained in 6 episodes
IEEE International Conference on Robotics and Automation — 2× in this paper
Multi-Agent System — 2× in this paper · explained in 7 episodes
Robustness — 2× in this paper · explained in 5 episodes
Computational overhead — 1× in this paper · explained in 2 episodes
Configuration Space — 1× in this paper · explained in 2 episodes
Control Barrier Function (CBF) — 1× in this paper · explained in 5 episodes
Lyapunov function — 1× in this paper · explained in 2 episodes
Parameterization — 1× in this paper · explained in 2 episodes
Point Clouds — 1× in this paper · explained in 2 episodes
Quadratic Programming — 1× in this paper
Quadratic Programming (QP) — 1× in this paper · explained in 2 episodes

Sources

Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions

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