Papers
1–5 of 5Formation-Aware Adaptive Conformalized Perception for Safe Leader-Follower Multi-Robot Systems
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints...
Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions
This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify ...
Control Barrier Corridors: From Safety Functions to Safe Sets
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but...
SafeGen-LLM: Enhancing Safety Generalization in Task Planning for Robotic Systems
Safety-critical task planning in robotic systems remains challenging: classical planners suffer from poor scalability, Reinforcement Learning (RL)-based methods generalize poorly, and base Large Langu...
A Hazard-Informed Data Pipeline for Robotics Physical Safety
This report presents a structured Robotics Physical Safety Framework based on explicit asset declaration, systematic vulnerability enumeration, and hazard-driven synthetic data generation. The approac...