Bernstein-Polynomial Signed Distance Fields

Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations

arXiv:2605.30696v1 Announce Type: new Abstract: Safe navigation often relies on well-defined conditions based on the shape of robots and obstacles, and can be challenging when they have irregular geometries. While Control Barrier Functions (CBFs) offer an efficient mechanism to enforce safe set forward invariance, common shape surrogates (e.g., spheres or super-ellipsoids) either are overly conservative in unstructured scenes or require many local primitives, which inflates constraint counts...