Author

Bojan Derajić

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#machine learning Preprint Oct 2026

Learning Reachability-Based Safety Representations for Real-Time Robot Navigation in Unknown and Dynamic Environments

Safe robot navigation in unknown, dynamic environments requires more than geometric collision checking: a robot still far from an obstacle may be unable to avoid it because of its speed, orientation, or the obstacle's motion. Hamilton--Jacobi (HJ) reachability analysis captures this in a value function whose sign separ...

Bojan Derajić · 0 citations

#machine learning Preprint Sep 2026

VertexCBF: Improving Neural Control Barrier Functions via Vertex-Restricted Control Search

This paper approximate the stationary Hamilton--Jacobi value function using a neural network trained via a combination of physics-informed and sparsely supervised learning and proposes VertexCBF, a framework for learning neural CBFs in a scalable, systematic, and explainable way.

Bojan Derajić, Sebastian Bernhard, Wolfgang Hönig · 0 citations