BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
BubbleCBF is a method for second-order systems to ensure safe navigation by constructing velocity-dependent control barriers from position-space spheres called bubbles derived from signed distance functions (SDFs). This approach creates a feasible safe set enforced via a quadratic program, allowing robots like differential-drive vehicles to navigate unknown environments safely.