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CC-HGCBF: Zero-Shot Safe Navigation for Heterogeneous Mobile Robot Teams

The authors propose the Capability-Conditioned Heterogeneous Graph Control Barrier Function (CC-HGCBF), which provides a unified safety representation for robots with differing kinematic and actuation capabilities in a shared second-order reference-point operational space. The method introduces the Radial Capability Field (RCF), which characterizes each robot's state-dependent finite-horizon reachable velocity set in a fixed dimension, enabling the shared graph barrier and decentralized policy to adapt to changes in state, kinematic constraints, and control limits without predefined robot identities.

Part of the event: CC-HGCBF Achieves Zero-Shot Safe Navigation for Heterogeneous Robots

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