SOURCE-LINKED INTELLIGENCE
BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation
Control barrier functions (CBFs) provide a mathematically grounded framework for enforcing local collision-avoidance constraints in autonomous mobile robots, commonly through optimization-based safety filters. However, a minimum-intervention CBF filter lacks task-level maneuver awareness and may fail to select a productive avoidance direction when multiple distinct maneuvers are locally viable, leading to safe but stalled behavior in geometrically ambiguous environments. This paper presents BIG-CBF, Behavior-Imagination-Guided Control Barrier Function with shared uncertainty, a two-rate naviga
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-13T07:05:36.000Z
First collected: 2026-09-20T12:41:04.663Z. This is not the publication date.