{"id":"https://openalex.org/W7161581163","doi":"https://doi.org/10.48550/arxiv.2605.15782","title":"Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments","display_name":"Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161581163","doi":"https://doi.org/10.48550/arxiv.2605.15782"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15782","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15782","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15782","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023199837","display_name":"Viswa Narayanan Sankaranarayanan","orcid":"https://orcid.org/0000-0002-1883-7912"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sankaranarayanan, Viswa Narayanan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136431176","display_name":"Vignesh K. Viswanathan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Viswanathan, Vignesh K.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064098651","display_name":"Akshit Saradagi","orcid":"https://orcid.org/0000-0003-3794-0306"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saradagi, Akshit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136425717","display_name":"Sumeet Satpute","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Satpute, Sumeet","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136393611","display_name":"George Nikolakopoulos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikolakopoulos, George","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.5738000273704529,"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":0.5738000273704529,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.16130000352859497,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0714000016450882,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6463000178337097},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6381000280380249},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6013000011444092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5475000143051147},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.501800000667572},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5016000270843506},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42640000581741333},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.421999990940094},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.41370001435279846},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.38269999623298645}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6463000178337097},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6381000280380249},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6013000011444092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5475000143051147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5127000212669373},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.501800000667572},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5016000270843506},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43380001187324524},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42640000581741333},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.421999990940094},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40400001406669617},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3749000132083893},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.36559998989105225},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.36550000309944153},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3650999963283539},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3637000024318695},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.36320000886917114},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.34869998693466187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3456999957561493},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3325999975204468},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3174000084400177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29120001196861267},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.28029999136924744},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2662999927997589},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26579999923706055},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26159998774528503},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2597000002861023},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15782","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15782","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15782","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15782","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"In":[0],"this":[1,114],"work,":[2],"we":[3],"address":[4],"the":[5,45,73,93,97,100,107,111,131,154],"problem":[6],"of":[7,67,99,122,156],"ensuring":[8],"real-time":[9,28],"safety":[10,41,85],"in":[11,15,92,106,137,153],"autonomous":[12],"robot":[13,112],"navigation,":[14],"spatially":[16],"constrained":[17],"dynamic":[18,157],"environments,":[19],"by":[20,140],"utilizing":[21,141],"only":[22],"onboard":[23,58],"sensors.":[24],"We":[25,129],"present":[26],"a":[27,33,64,119,142,146],"control":[29,38,74],"architecture":[30],"that":[31],"integrates":[32],"3D":[34],"LIDAR":[35,127],"perception-based":[36],"composite":[37],"barrier":[39],"function(CBF)-based":[40],"filter":[42],"directly":[43],"into":[44],"autonomy":[46],"pipeline.":[47],"The":[48,84],"proposed":[49],"perception-driven":[50],"framework":[51],"enforces":[52],"collision":[53],"avoidance":[54],"constraints":[55,68,105],"dynamically":[56],"from":[57],"point":[59],"cloud":[60],"data,":[61],"thus":[62],"allowing":[63],"large":[65],"number":[66],"to":[69,80],"be":[70],"handled":[71,117],"at":[72],"frequency,":[75],"while":[76,166],"remaining":[77],"minimally":[78],"invasive":[79],"nominal":[81],"task":[82],"execution.":[83],"region":[86],"is":[87,116],"defined":[88],"as":[89,110],"an":[90],"ellipsoid":[91],"body-frame,":[94],"consistent":[95],"with":[96],"geometry":[98],"platform,":[101],"which":[102],"induces":[103],"time-varying":[104,123],"world":[108],"frame":[109],"rotates;":[113],"effect":[115],"through":[118,133,168],"dedicated":[120],"formulation":[121],"(CBF)":[124],"for":[125],"each":[126],"point.":[128],"validate":[130],"system":[132],"multiple":[134],"field":[135],"experiments":[136],"underground":[138],"environments":[139],"quadruped":[143],"platform":[144],"performing":[145],"visual":[147],"inspection":[148],"task,":[149],"demonstrating":[150],"reliable":[151],"operation":[152],"presence":[155],"obstacles,":[158],"unsafe":[159],"high-level":[160],"references,":[161],"abrupt":[162],"localization":[163],"anomalies,":[164],"and":[165],"traversing":[167],"narrow":[169],"corridors.":[170]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-19T00:00:00"}
