Abstract
Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matters most. We present Look-Back Adaptive Control Barrier Functions (LBA-CBF), which rank a finite bank of candidate dynamics by recent prediction error over a short look-back window and enforce the high-order CBF condition against every model within a tolerance of the best, spanning best-fit adaptation to full-bank robust filtering. The dynamics may depend nonlinearly on the unknown parameters, and no switching model or continuously parameterized estimator is required. We prove that any feasible filtered input satisfies the true CBF condition whenever a safety-representative candidate is retained. In quadrotor simulation with abrupt wind reversals and an unknown payload, LBA-CBF is safe and reaches the goal from all random initial conditions, matching an oracle, while adaptive and robust baselines achieve 0-88% success. Banks of up to 250,000 models run inside the control loop, and Crazyflie 2.1 and F1TENTH experiments demonstrate adaptation to wind, payload release, and varying tire-road friction. Code, videos, and project details are available at: https://lla-control.github.io
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Cite this article
APA 7
AL-Sunni, M. F., Radu, T. A., Almubarak, H., Liao, H. Z., Görner, M., Maurelli, F., & Dolan, J. M. (2026). LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference. https://omanscience.com/en/articles/lba-cbf-rapidly-adaptive-safety-filters-via-parallel-dynamics-inference
MLA 9
AL-Sunni, Maitham F., et al. "LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference." https://omanscience.com/en/articles/lba-cbf-rapidly-adaptive-safety-filters-via-parallel-dynamics-inference.
Chicago (author–date)
AL-Sunni, Maitham F., Timeea-Andreea Radu, Hassan Almubarak, Henry Z. Liao, Michael Görner, Francesco Maurelli, and John M. Dolan. 2026. "LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference." https://omanscience.com/en/articles/lba-cbf-rapidly-adaptive-safety-filters-via-parallel-dynamics-inference.
Harvard
AL-Sunni, M. F., Radu, T. A., Almubarak, H., Liao, H. Z., Görner, M., Maurelli, F. and Dolan, J. M. (2026) 'LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference', Available at: https://omanscience.com/en/articles/lba-cbf-rapidly-adaptive-safety-filters-via-parallel-dynamics-inference.
Vancouver
AL-Sunni MF, Radu TA, Almubarak H, Liao HZ, Görner M, Maurelli F, et al. LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference. https://omanscience.com/en/articles/lba-cbf-rapidly-adaptive-safety-filters-via-parallel-dynamics-inference
IEEE
M. F. AL-Sunni, T. A. Radu, H. Almubarak, H. Z. Liao, M. Görner, F. Maurelli, and J. M. Dolan, "LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference," https://omanscience.com/en/articles/lba-cbf-rapidly-adaptive-safety-filters-via-parallel-dynamics-inference.