{"id":"https://openalex.org/W7134822670","doi":"https://doi.org/10.48550/arxiv.2603.06954","title":"Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions","display_name":"Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions","publication_year":2026,"publication_date":"2026-03-07","ids":{"openalex":"https://openalex.org/W7134822670","doi":"https://doi.org/10.48550/arxiv.2603.06954"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.06954","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128648332","display_name":"Taekyung Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kim, Taekyung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5128648332"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32396607,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.5332000255584717,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.5332000255584717,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.04490000009536743,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.04399999976158142,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.7172999978065491},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6485999822616577},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5878999829292297},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5877000093460083},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5566999912261963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47850000858306885},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.44679999351501465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43140000104904175}],"concepts":[{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.7172999978065491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7024999856948853},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6485999822616577},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5878999829292297},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5877000093460083},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5566999912261963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47850000858306885},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.44679999351501465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43140000104904175},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4147000014781952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36079999804496765},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.3546999990940094},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C112313634","wikidata":"https://www.wikidata.org/wiki/Q7886648","display_name":"Complement (music)","level":5,"score":0.271699994802475},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27079999446868896},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2619999945163727}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.06954","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.06954","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06954","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.06954","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"score":0.590618371963501,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"tutorial":[1,157],"provides":[2],"a":[3,28,36],"critical":[4],"review":[5],"of":[6,10,22,35,62,77,155],"the":[7,19,32,51,60,102,161],"practical":[8,140],"application":[9],"Control":[11],"Barrier":[12],"Functions":[13],"(CBFs)":[14],"in":[15,44],"robotic":[16],"safety.":[17,152],"While":[18],"theoretical":[20,164],"foundations":[21],"CBFs":[23,57],"are":[24,83],"well-established,":[25],"I":[26,49,70,120,137],"identify":[27],"recurring":[29],"gap":[30,162],"between":[31,53,163],"mathematical":[33],"assumption":[34],"safe":[37,78,87],"controller's":[38],"existence":[39],"and":[40,55,67,105,129,166],"its":[41],"constructive":[42],"realization":[43],"systems":[45,148],"with":[46],"input":[47],"constraints.":[48],"highlight":[50],"distinction":[52],"candidate":[54],"valid":[56,126],"by":[58,170],"analyzing":[59],"interplay":[61],"system":[63],"dynamics,":[64],"actuation":[65],"limits,":[66],"class-K":[68],"functions.":[69],"further":[71],"show":[72,121],"that":[73,176],"some":[74],"purported":[75],"demonstrations":[76],"robot":[79],"policies":[80],"or":[81,93],"controllers":[82],"limited":[84],"to":[85,112,134,159],"passively":[86],"systems,":[88],"such":[89,150],"as":[90],"single":[91],"integrators":[92],"kinematic":[94],"manipulators,":[95],"where":[96],"safety":[97,127,145],"is":[98,158],"already":[99],"inherited":[100],"from":[101],"underlying":[103],"physics":[104],"even":[106],"naive":[107],"geometric":[108],"hard":[109],"constraints":[110],"suffice":[111],"prevent":[113],"collisions.":[114],"By":[115],"revisiting":[116],"simple":[117],"low-dimensional":[118],"examples,":[119],"when":[122,130],"CBF":[123],"formulations":[124],"provide":[125,139],"guarantees":[128,165],"they":[131],"fail":[132],"due":[133],"common":[135],"misuses.":[136],"then":[138],"guidelines":[141],"for":[142,147],"constructing":[143],"realizable":[144],"arguments":[146],"without":[149],"passive":[151],"The":[153],"goal":[154],"this":[156],"bridge":[160],"actual":[167],"implementation,":[168],"supported":[169],"an":[171],"open-source":[172],"interactive":[173],"web":[174],"demonstration":[175],"visualizes":[177],"these":[178],"concepts":[179],"intuitively.":[180]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-03-11T00:00:00"}
