CBFs for Sample-Based Beliefs

This repository accompanies the paper "Risk-Aware Robot Control in Dynamic Environments using Belief Control Barrier Functions", submitted to CDC 2025.

Installation

Tested on Ubuntu 22.04 with CUDA 12.6.

Clone the repository:

git clone https://github.com/KTH-RPL-Planiacs/sample_based_bcbf
cd sample_based_bcbf

Create and activate the virtual environment using Mamba.

mamba env create -f environment.yml
mamba activate sample_based_bcbf

Run

To run the main experiment and collect data:

python3 main.py 

To visualize by animation:

zsh scripts/create_gif.sh

BibTeX

@article{han2025risk,
  title={Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions},
  author={Han, Shaohang and Vahs, Matti and Tumova, Jana},
  journal={arXiv preprint arXiv:2504.04097},
  year={2025}
}