Preprint
Oct 2026
LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference
Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matters most. We present Look-Back Adaptive Control Barrier Functions (LBA-CBF), which rank a finite bank of candidate dynamics by recent predicti...
Maitham Al-Sunni, Timeea-Andreea Radu, Hassan Almubarak et al.
· 1 citation