A Recursive CBF Framework for Safety under State Uncertainty

arXiv:2609.18268 · eess.SY, cs.SY · Submitted 2026-09-16 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-09-16

Updated: 2026-09-16

Comments: 8 pages, 4 figures, IEEE CDC 2026

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

Terminology

• American Control Conference — 3× in this paper
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Theoretical Guarantees — 1× in this paper · explained in 2 episodes

Sources

• Safety Under State Uncertainty: Robustifying Control Barrier Functions
• Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions
• A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties

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