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LEAP-CBF: A Safety Filter for Uncertain Systems with Least-Effort Adversarial Potentials

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Control barrier functions (CBF) are a popular safety filter to ensure safety for nonlinear dynamical systems. However, when the system is subject to uncertainties and disturbances, this requires the use of robust variants of CBFs, which can be difficult to construct and can be overly conservative, especially for high-dimensional systems under input constraints. In this work, we propose a new approach to solve these challenges by introducing Least-Effort Adversarial Potentials (LEAP), a certificate that quantifies the robustness of a given state against disturbances in terms of the effort requi

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