Research paper
Heterogeneous robot teams · Capability-conditioned safety filters
This work conditions a graph barrier model on each robot's reachable motion capabilities. The reported experiments examine transfer to robot models and capability variations absent from training, including selected physical robot configurations.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Capability-Conditioned Graph Control Barrier Functions for Zero-Shot Safe Navigation of Heterogeneous Mobile Robot Teams
- Publisher
- arXiv
- Authors
- Kim, Joonkyung, Cho, Janghyun, Lee, Jeehyun, Nam, Changjoo, Lyu, Yiwei
- First archive posting
- 2026-10-30
- Source language
- en
- Source country
- US
- Edition
- arXiv:2610.41214v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
This work conditions a graph barrier model on each robot's reachable motion capabilities. The reported experiments examine transfer to robot models and capability variations absent from training, including selected physical robot configurations.
Use and review
Source check covers the archive abstract and metadata. Reported results depend on the stated models and tests; application-specific safety validation remains required. The date is the first archive posting.
Sources & editions
Capability-Conditioned Graph Control Barrier Functions for Zero-Shot Safe Navigation of Heterogeneous Mobile Robot Teams ↗
arXiv · arXiv:2610.41214v1
arXiv abstract, citation metadata and v1 submission history. First archive posting: 2026-10-30.