Control Barrier Function Placement
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Where to Put Safety? Control Barrier Function Placement in Networked Control Systems
arXiv:2603.29792v2 Announce Type: replace Abstract: Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains largely unexplored. In this work, we investigate where to enforce safety in a networked control system in which a remote model predictive controller (MPC) communicates with the plant over a delayed network. We compare two safety strategies: i) a local myopic CBF filter applied at the...
ProbeAct: Probe-Guided Training-Free Failure Recovery in Vision-Language-Action Models
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