Local Safety Ball (LSB) in Robotics Safety

Updated 12 July 2026

Local Safety Ball (LSB) is a state-dependent safe set that certifies allowable motions via learned clearance prediction or Lyapunov barrier functions.
It is employed in obstacle avoidance and safe reinforcement learning, integrating discrete-time high-order Control Barrier Functions for robust forward invariance.
The framework unifies geometric and policy-based safety methods, enabling real-time, collision-free motion for robots with complex, nonconvex geometries.

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Learning Safety for Obstacle Avoidance via Control Barrier Functions (2025)

Lyapunov Barrier Policy Optimization (2021)

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