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Control Barrier Functions: Theory and Applications

arXiv 1903.11199 ↗First posted 27 Mar 2019eess.SY cs.SYcited by 332

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Abstract (arXiv)

This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main technical results and discuss applications to several domains including robotic systems.

Key facts. Cited by 332 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Mar 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 24; 2022: 29; 2023: 38; 2024: 49; 2025: 77; 2026: 115.

332 papers.

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  1. 2024Safety Alignment Should Be Made More Than Just a Few Tokens Deepcited by 450
  2. 2021Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learningcited by 337
  3. 2022A Review of Safe Reinforcement Learning: Methods, Theory and Applicationscited by 169
  4. 2025ShieldAgent: Shielding Agents via Verifiable Safety Policy Reasoningcited by 144
  5. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  6. 2023The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systemscited by 77
  7. 2026PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulationcited by 74
  8. 2024Safe Offline Reinforcement Learning with Feasibility-Guided Diffusion Modelcited by 62
  9. 2022Reachability Constrained Reinforcement Learningcited by 52
  10. 2021Safe Reinforcement Learning Using Robust Control Barrier Functionscited by 44
  11. 2025Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysiscited by 44
  12. 2021safe-control-gym: a Unified Benchmark Suite for Safe Learning-based Control and Reinforcement Learning in Roboticscited by 42
38 more
  1. 2021Learning Barrier Certificates: Towards Safe Reinforcement Learning with Zero Training-time Violationscited by 36
  2. 2023Empowering Autonomous Driving with Large Language Models: A Safety Perspectivecited by 34
  3. 2023Iterative Reachability Estimation for Safe Reinforcement Learningcited by 33
  4. 2025VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layercited by 32
  5. 2022Provably Safe Reinforcement Learning: Conceptual Analysis, Survey, and Benchmarkingcited by 31
  6. 2021Model-based Constrained Reinforcement Learning using Generalized Control Barrier Functioncited by 30
  7. 2021Feasible Actor-Critic: Constrained Reinforcement Learning for Ensuring Statewise Safetycited by 30
  8. 2023RAYEN: Imposition of Hard Convex Constraints on Neural Networkscited by 30
  9. 2024HardNet: Hard-Constrained Neural Networks with Universal Approximation Guaranteescited by 29
  10. 2023Physics-Informed Machine Learning for Modeling and Control of Dynamical Systemscited by 28
  11. 2021Safe Pontryagin Differentiable Programmingcited by 25
  12. 2022ISAACS: Iterative Soft Adversarial Actor-Critic for Safetycited by 24
  13. 2025Safety Aware Task Planning via Large Language Models in Roboticscited by 24
  14. 2021Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perceptioncited by 22
  15. 2022Safety Certification for Stochastic Systems via Neural Barrier Functionscited by 22
  16. 2023A Survey on Physics Informed Reinforcement Learning: Review and Open Problemscited by 22
  17. 2021Safe Control with Neural Network Dynamic Modelscited by 21
  18. 2022Learning Control Policies for Stochastic Systems with Reach-avoid Guaranteescited by 21
  19. 2024CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planningcited by 21
  20. 2025Steering Dialogue Dynamics for Robustness against Multi-turn Jailbreaking Attackscited by 20
  21. 2025Offline Goal-conditioned Reinforcement Learning with Quasimetric Representationscited by 20
  22. 2021Learning Robust Output Control Barrier Functions from Safe Expert Demonstrationscited by 19
  23. 2022SABLAS: Learning Safe Control for Black-box Dynamical Systemscited by 17
  24. 2022Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interactioncited by 15
  25. 2024Formally Verifying Deep Reinforcement Learning Controllers with Lyapunov Barrier Certificatescited by 15
  26. 2026ODESteer: A Unified ODE-Based Steering Framework for LLM Alignmentcited by 15
  27. 2021Learning Robust Hybrid Control Barrier Functions for Uncertain Systemscited by 14
  28. 2023Exact Verification of ReLU Neural Control Barrier Functionscited by 14
  29. 2025Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stoppingcited by 14
  30. 2021Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertaintycited by 13
  31. 2021Safe Autonomous Racing via Approximate Reachability on Ego-visioncited by 13
  32. 2022Behavior Trees in Robot Control Systemscited by 13
  33. 2023Trajectory Generation, Control, and Safety with Denoising Diffusion Probabilistic Modelscited by 13
  34. 2022Spatial-Temporal-Aware Safe Multi-Agent Reinforcement Learning of Connected Autonomous Vehicles in Challenging Scenarioscited by 12
  35. 2024Constrained Reinforcement Learning with Smoothed Log Barrier Functioncited by 12
  36. 2024Safe Reinforcement Learning on the Constraint Manifold: Theory and Applicationscited by 12
  37. 2024Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imaginationcited by 12
  38. 2024Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagationcited by 12

50 most cited of 332 All 332 (JSON)