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

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/fqkzmvk8miuyt4zvbs9wagy9i
- Original: https://arxiv.org/abs/2610.41214

## Summary

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.