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OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles

arXiv · AI, language, vision and robotics · article · Sep 6, 2026 · UTC

Robots navigating under occlusion may enter states from which no admissible input can avoid a dynamic obstacle once it becomes visible. We present OcclusionCBF, a safety filter that extends backup control barrier functions to reachable-occupancy predictions for potentially hidden dynamic obstacles in occluded regions. The method certifies a prescribed backup rollout against collision-inflated occupancy and a verified terminal set, yielding affine constraints for minimally invasive quadratic-program filtering. We establish recursive feasibility of the resulting safety filter, and collision avoi

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