OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles

• URL: http://arxiv.org/abs/2609.06342v1
• Date: Sun, 06 Sep 2026 02:31:47 GMT
• Title: OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
• Abstract summary: OcclusionCBF is a safety filter that extends backup control barrier functions to reachable-occupancy predictions.<n>We show improved task success over reactive and occlusion-aware predictive baselines with millisecond-scale computation.
• Score: 13.327838370494982
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Robots navigating under occlusion may enter states from which no admissible input can avoid a dynamic obstacle once it becomes visible. We present OcclusionCBF, a safety filter that extends backup control barrier functions to reachable-occupancy predictions for potentially hidden dynamic obstacles in occluded regions. The method certifies a prescribed backup rollout against collision-inflated occupancy and a verified terminal set, yielding affine constraints for minimally invasive quadratic-program filtering. We establish recursive feasibility of the resulting safety filter, and collision avoidance for every hidden-obstacle motion covered by the occupancy prediction. Randomized benchmarks, MetaUrban simulations, and hardware experiments demonstrate improved task success over reactive and occlusion-aware predictive baselines with millisecond-scale computation.

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