2024/04/10 by Mitchell Black, Georgios Fainekos, Black, Mitchell +7 · 1 citation
Computer Science · Engineering · #Embedded Systems Design Techniques #FOS: Computer and information sciences #FOS: Electrical engineering #Real-Time Systems Scheduling #Real-time simulation and control systems #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2404.07158
openalex publication_date 2024/04/10 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.