Research paper
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
A body-shaped safety envelope and a point-cloud CBF filter constrain quadruped navigation using onboard sensing. Underground field experiments examine moving obstacles, narrow corridors and localization disturbances. Sensor coverage and model assumptions still determine what the filter can protect.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
- Publisher
- arXiv
- Authors
- Sankaranarayanan, Viswa Narayanan, Viswanathan, Vignesh K., Saradagi, Akshit, Satpute, Sumeet, Nikolakopoulos, George
- DOI
- 10.48550/arxiv.2605.15782
- First archive posting
- 2026-05-15
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
A body-shaped safety envelope and a point-cloud CBF filter constrain quadruped navigation using onboard sensing. Underground field experiments examine moving obstacles, narrow corridors and localization disturbances. Sensor coverage and model assumptions still determine what the filter can protect.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2026-05-15, abstract reviewed in v1. Publisher dates are separate.