GJK-CBF: Control Barrier Functions for Convex Rigid Body Collision Avoidance on SE(3)
cs.RO, cs.SY, eess.SY
Submitted: 2026-10-04
Updated: 2026-10-04
Sources
- Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
- Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
- Safe Navigation under Uncertain Obstacle Dynamics using Control Barrier Functions and Constrained Convex Generators
- Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations
- SQ-CBF: Signed Distance Functions for Reliable Superquadric-Based Safety Filtering
- A micro Lie theory for state estimation in robotics
- Stochastic Control Barrier Functions under State Estimation: From Euclidean Space to Lie Groups
- Long-Horizon Geometry-Aware Navigation among Polytopes via MILP-MPC and Minkowski-Based CBFs
Related papers
- FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
- MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
- RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
- ARC: A Reasoning Recipe for Robot Foundation Models
- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies