Abstract
Control barrier functions are an effective model-based tool to formally certify the safety of a system. However, transferring their theoretical guarantees to real-world robotics systems requires high model fidelity. For example, payloads or wind disturbances can cause significant model perturbations to an aerial vehicle, leading to safety compromises. In this work, we propose a certifiable online learning-enhanced robust adaptive control barrier function, which adapts to disturbances using a Neural ODE and quantifies its adaptation uncertainty with conformal prediction. Our approach guarantees safety at all time under unknown time-varying model disturbances. It adopts a conservative strategy when the adaptation uncertainty is high; and efficiently adapts to reduce controller conservativeness as it receives more data. Our approach provides a provable safety guarantee with a probability bound under suitable Lipschitz smoothness assumptions on the underlying model and trajectory. These results demonstrate the potential of our method as a practical safety controller for robotics system operating under model perturbations.
Keywords
Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Pan, L., Catellani, M., Cao, A., Sabattini, L., & Ayanian, N. (2026). Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control. https://omanscience.com/en/articles/neural-barriers-an-online-certifiable-learning-enhanced-adaptive-high-order-safety-critical-control
MLA 9
Pan, Lishuo, et al. "Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control." https://omanscience.com/en/articles/neural-barriers-an-online-certifiable-learning-enhanced-adaptive-high-order-safety-critical-control.
Chicago (author–date)
Pan, Lishuo, Mattia Catellani, An Cao, Lorenzo Sabattini, and Nora Ayanian. 2026. "Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control." https://omanscience.com/en/articles/neural-barriers-an-online-certifiable-learning-enhanced-adaptive-high-order-safety-critical-control.
Harvard
Pan, L., Catellani, M., Cao, A., Sabattini, L. and Ayanian, N. (2026) 'Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control', Available at: https://omanscience.com/en/articles/neural-barriers-an-online-certifiable-learning-enhanced-adaptive-high-order-safety-critical-control.
Vancouver
Pan L, Catellani M, Cao A, Sabattini L, Ayanian N. Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control. https://omanscience.com/en/articles/neural-barriers-an-online-certifiable-learning-enhanced-adaptive-high-order-safety-critical-control
IEEE
L. Pan, M. Catellani, A. Cao, L. Sabattini, and N. Ayanian, "Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control," https://omanscience.com/en/articles/neural-barriers-an-online-certifiable-learning-enhanced-adaptive-high-order-safety-critical-control.