{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/cbfkit-a-control-barrier-function-toolbox-for","title":"CBFKIT: A Control Barrier Function Toolbox for Robotics Applications","arxiv_id":"2404.07158","date":"2024-04-10","proceeding":null,"authors":["Mitchell Black","Georgios Fainekos","Bardh Hoxha","Hideki Okamoto","Danil Prokhorov"],"abstract":"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.","url_abs":"https://arxiv.org/abs/2404.07158v1","url_pdf":"https://arxiv.org/pdf/2404.07158v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"cbfkit-a-control-barrier-function-toolbox-for","repo_url":"https://github.com/bardhh/cbfkit","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"jax","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}