{"id":"https://openalex.org/W7134826228","doi":"https://doi.org/10.48550/arxiv.2603.06921","title":"CN-CBF: Composite Neural Control Barrier Function for Safe Robot Navigation in Dynamic Environments","display_name":"CN-CBF: Composite Neural Control Barrier Function for Safe Robot Navigation in Dynamic Environments","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134826228","doi":"https://doi.org/10.48550/arxiv.2603.06921"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.06921","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070805758","display_name":"Bojan Deraji\u0107","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Deraji\u0107, Bojan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071562103","display_name":"Sebastian Bernhard","orcid":"https://orcid.org/0000-0002-7194-7539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bernhard, Sebastian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5086120608","display_name":"Wolfgang H\u00f6nig","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H\u00f6nig, Wolfgang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070805758"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.49320000410079956,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.49320000410079956,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.12150000035762787,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.07419999688863754,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6916999816894531},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.607699990272522},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6003000140190125},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4253000020980835},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.3889999985694885},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.38359999656677246},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3515999913215637},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.351500004529953}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6916999816894531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6668000221252441},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.607699990272522},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6003000140190125},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4253000020980835},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3889999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.387800008058548},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3515999913215637},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32659998536109924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3246999979019165},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2858999967575073},{"id":"https://openalex.org/C42259789","wikidata":"https://www.wikidata.org/wiki/Q1392940","display_name":"Fail-safe","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2554999887943268}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.06921","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.06921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.06921","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Safe":[0],"navigation":[1,66],"of":[2,7,21,47,74,157,170,184],"autonomous":[3],"robots":[4],"remains":[5],"one":[6],"the":[8,12,22,45,72,94,100,111,118,126,163,168,171,174],"core":[9],"challenges":[10],"in":[11,15,67,135,178],"field,":[13],"especially":[14],"dynamic":[16,68],"and":[17,50,142],"uncertain":[18],"environments.":[19,69],"One":[20],"prevalent":[23],"approaches":[24],"is":[25,132,176],"safety":[26],"filtering":[27],"based":[28],"on":[29],"control":[30],"barrier":[31],"functions":[32],"(CBFs),":[33],"which":[34,115],"are":[35,82,91],"easy":[36],"to":[37,41,98,159,162],"deploy":[38],"but":[39],"difficult":[40],"design.":[42],"Motivated":[43],"by":[44],"shortcomings":[46],"existing":[48],"learning-":[49],"model-based":[51],"methods,":[52],"we":[53,109],"propose":[54],"a":[55,75,85,139,143],"simple":[56],"yet":[57],"effective":[58],"neural":[59,80,113],"CBF":[60],"design":[61],"method":[62,131,175],"for":[63,104,138,181],"safe":[64,102,120],"robot":[65,141],"We":[70],"employ":[71],"idea":[73],"composite":[76],"CBF,":[77],"where":[78],"multiple":[79],"CBFs":[81,90],"combined":[83],"into":[84],"single":[86,105],"CBF.":[87],"The":[88,130,151],"individual":[89],"trained":[92],"via":[93],"Hamilton-Jacobi":[95],"reachability":[96],"framework":[97],"approximate":[99],"optimal":[101],"set":[103,121],"moving":[106],"obstacles.":[107],"Additionally,":[108],"use":[110],"residual":[112],"architecture,":[114],"guarantees":[116],"that":[117],"estimated":[119],"does":[122],"not":[123],"intersect":[124],"with":[125],"corresponding":[127],"failure":[128],"set.":[129],"extensively":[133],"evaluated":[134],"simulation":[136],"experiments":[137,180],"ground":[140],"quadrotor,":[144],"comparing":[145],"it":[146],"against":[147],"several":[148],"baseline":[149],"methods.":[150],"results":[152],"show":[153],"improved":[154],"success":[155],"rates":[156],"up":[158],"18\\%":[160],"compared":[161],"best":[164],"baseline,":[165],"without":[166],"increasing":[167],"conservativeness":[169],"motion.":[172],"Also,":[173],"demonstrated":[177],"hardware":[179],"both":[182],"types":[183],"robots.":[185]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}
