# CBFKIT: A Control Barrier Function Toolbox for Robotics Applications

arXiv: https://arxiv.org/abs/2404.07158 · HTML: https://mlsanity.com/paper/2404.07158/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Apr 2024.

## Built on by (most cited first, 1 of 1)

- [Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations](https://mlsanity.com/paper/2605.13923/) (2026)

## Abstract (arXiv)

This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier functions for mobility systems within both deterministic and stochastic environments. It can be connected to the ROS open-source robotics middleware, allowing for the setup of multi-robot applications, encoding of environments and maps, and integrations with predictive motion planning algorithms. Additionally, it offers multiple CBF variations and algorithms for robot control. The CBFKit is demonstrated on the Toyota Human Support Robot (HSR) in both simulation and in physical experiments.