The authors introduce an output-feedback CBF framework using expectation-based barrier conditions and Jensen inequality bounds to conservatively enforce safety in stochastic systems with partial observations.
Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation
3 Pith papers cite this work. Polarity classification is still indexing.
3
Pith papers citing it
years
2026 3verdicts
UNVERDICTED 3representative citing papers
Introduces boundary-focused rollouts to screen the smoothing parameter κ and augments a discrete-time CBF with a fixed robust margin to eliminate contact force violations in smoothed implicit dynamics simulations.
Terrain-consistent reference modulation during RL training yields SE(2)-controllable humanoid locomotion policies that improve tracking in simulation and enable over 70 m closed-loop autonomous navigation on rough terrain and stairs on the Unitree G1 with onboard computation.
citing papers explorer
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Output-Feedback Safe Control of Discrete-Time Stochastic Systems with Chance Constraints
The authors introduce an output-feedback CBF framework using expectation-based barrier conditions and Jensen inequality bounds to conservatively enforce safety in stochastic systems with partial observations.
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Safety-Critical Control for Smoothed Implicit Contact Dynamics
Introduces boundary-focused rollouts to screen the smoothing parameter κ and augments a discrete-time CBF with a fixed robust margin to eliminate contact force violations in smoothed implicit dynamics simulations.
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Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
Terrain-consistent reference modulation during RL training yields SE(2)-controllable humanoid locomotion policies that improve tracking in simulation and enable over 70 m closed-loop autonomous navigation on rough terrain and stairs on the Unitree G1 with onboard computation.