{"paper":{"title":"Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Akshit Saradagi, George Nikolakopoulos, Sumeet Satpute, Vignesh K. Viswanathan, Viswa Narayanan Sankaranarayanan","submitted_at":"2026-05-15T09:42:13Z","abstract_excerpt":"In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates a 3D LIDAR perception-based composite control barrier function(CBF)-based safety filter directly into the autonomy pipeline. The proposed perception-driven framework enforces collision avoidance constraints dynamically from onboard point cloud data, thus allowing a large number of constraints to be handled at the control frequency, while remaining minimally "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15782","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.15782/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:48.750057Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:21:55.924408Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"f36e9898264623d038ae261db8479f8e98f89aa0fb18cb2f17bc25e02f373b30"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}