Preprint
Aug 2026
Learning-Based Measurement-Robust Control Barrier Functions for Obstacle Avoidance under State Estimation Error
This work develops two new control barrier function (CBF) formulations: drift-measurement-robust (DMR)-CBFs and neural measurement-robust (NMR)-CBFs and provides theoretical analysis of the DMR-CBF along with numerical results on a planar double integrator and a 12D quadrotor.
Nicholas Rober, Yi-Xuan Jia, Jonathan P. How
· 1 citation