2026
Lyapunov-Based Control Barrier Functions for Real-Time Safe Navigation in Three-Dimension Complex Environments
RA-L 2026
In the field of safe navigation for mobile robots, control barrier functions (CBFs) have garnered significant attention due to their ability to transform complex safety constraints into real-time solvable optimization problems. In this letter, we propose a novel Lyapunov-based CBF framework. It offe