Theoretical/ Concept Introducing Papers on Control Barrier Functions

This repository contains a list of papers and their code (if available) for safety-critical controls.

Introduction to Control Barrier Functions

• Constructive safety using control barrier functions [paper]
• Control Barrier Function based Quadratic Programs with Application to Adaptive Cruise Control [paper]
• Robustness of Control Barrier Functions for Safety Critical Control [paper]
• Control Barrier Certificates for Safe Swarm Behavior [paper]
• Safety Barrier Certificates for Collisions-Free Multirobot Systems [paper]
• Control Barrier Function Based Quadratic Programs for Safety-Critical Systems [paper]
• Control Barrier Functions: Theory and Applications [paper]

Higher Order and Exponential Control Barrier Functions

• Exponential control barrier functions for enforcing high relative-degree safety-critical constraints [paper]
• Control Barrier Functions for Systems with High Relative Degree [paper]
• High-Order Control Barrier Functions [paper]

Energy Based Control Barrier Functions

• EnCBF

Cone Based Control Barrier Functions

• Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs (ICC'23) [paper]
• Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach (ACC'24) [paper]
• Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance (ACC'24) [paper]
• Safe Legged Locomotion using Collision Cone Control Barrier Functions [paper]
• Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments (ECC'24) [paper]

CBFs in Stochastic Environments

• Input-to-state safety with control barrier functions [paper]
• Control barrier functions for Stochastic Systems [paper]
• Almost-Sure Safety Guarantees of Stochastic Zero-Control Barrier Functions Do Not Hold [paper]
• Bounding Stochastic Safety: Leveraging Freedman’s Inequality with Discrete-Time Control Barrier Functions [paper]
• Learning a Formally Verified Control Barrier Function in Stochastic Environment (CDC'24) [paper] [code]

Safe Model-Based RL

• End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks [paper]
• Model-based Reinforcement Learning with Provable Safety Guarantees via Control Barrier Functions [paper]
• Safe Reinforcement Learning using Robust Control Barrier Functions [paper]
• Safe Exploration inModel-based Reinforcement Learning using Control Barrier Functions [paper]
• Safe and Efficient Reinforcement Learning Using Disturbance-Observer-Based Control Barrier Functions [paper]

Neural Control Barrier Functions

From State Inputs

Survey Papers

• Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control [paper]

Conference/Journal Papers

• Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates (ICLR'21) [paper] [code]
• Learning Control Barrier Functions with High Relative Degree for Safety-Critical Control (ECC'21) [paper]
• SABLAS: Learning Safe Control for Black-box Dynamical Systems (RAL'22) [paper] [code]
• Safe Control Under Input Limits with Neural Control Barrier Functions (CoRL'22) [paper] [code]
• Learning a Better Control Barrier Function (CDC'22) [paper]
• Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance (IROS'23) [paper]
• Exact Verification of ReLU Neural Control Barrier Functions (NeurIPS'23) [paper]
• Safety Certification for Stochastic Systems via Neural Barrier Functions (L-CSS'23) [paper] [code]
• Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control (CoRL'23) [paper] [code]
• How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems (ICRA'24) [paper] [code]
• Learning a Formally Verified Control Barrier Function in Stochastic Environment (CDC'24) [paper] [code]

From Visuomotor Inputs

Conference/Journal Papers

• End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions (CDC'22) [paper]
• Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations (OJCSYS'24) [paper]
• Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates [paper]

Application Specific Papers

CBF on Hybrid Systems

• Learning Hybrid Control Barrier Functions from Data (CoRL'20) [paper]
• Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions (ACC'24) [paper]
• Hybrid Control Barrier Functions for Continuous-Time Systems (TAC'24) [paper]
• Learning Local Control Barrier Functions for Safety Control of Hybrid Systems [paper]

HJ Reachability on Hybrid Systems

• Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots (CDC'22) [paper]
• Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker (CDC'24) [paper]

Legged Robots

• Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement(ADHS'15) [paper]
• Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation(RSS'17) [paper]
• Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions (RSS'20) [paper]
• Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control(ICRA'21) [paper]
• Toward Safety-Aware Informative Motion Planning for Legged Robots [paper]
• Robust Safety-Critical Control for Dynamic Robotics(TAC'22) [paper]
• Model-Free Safety-Critical Control for Robotic Systems(ICRA'22) [paper]
• Safety-Aware Preference-Based Learning for Safety-Critical Control(L4DC'22) [paper]

Robotic Manipulators

• Constrained robot control using control barrier functions (IROS'16) [paper]
• Safety Barrier Functions for Human-Robot Interaction with Industrial Manipulators (ECC'19) [paper]
• Online Active Safety for Robotic Manipulators (IROS'19) [paper]
• Safety-Critical Kinematic Control of Robotic Systems (L-CSS'21) [paper]
• Real-Time Safety and Control of Robotic Manipulators with Torque Saturation in Operational Space (IROS'21) [paper]
• Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment [paper]
• Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators [paper]
• Safety-Critical Manipulation for Collision-Free Food Preparation (RA-L'22) [paper]
• Energy-based Control Barrier Functions for Robotic Manipulators with Large Safety Constraints (ECC'22) [paper]
• Consensus in Operational Space for Robotic Manipulators with Task and Input Constraints (ICRA'22) [paper]
• Safety-Critical Control of Euler-Lagrange Systems Subject to Position Constraints (CCC'23) [paper]
• Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions (RA-L'23) [paper]
• Control Barrier Function-Based Force Constrained Safety Compliance Control for Manipulator (ICAC'23) [paper]
• Adaptive Safety-Critical Control With Uncertainty Estimation for Human-Robot Collaboration (TASE'23) [paper]