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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Nicholas Rober

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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

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