CBF / ISSf-CBF Playground

single integrator · safety filter live

⚠ Safety violated — h(x) < 0

h(x) over time · barrier value of nearest obstacle h = —

agent goal obstacle (h=0) ISSf tightened margin safe set h≥0

System

Safety filter

min h(x)

—

status

SAFE

‖u‖ control

0.00

‖d‖ disturbance

0.00

Place on canvas

Parameters

α gain γ (class-K)2.0

ISSf robustness ε0.50

disturbance noise σ0.40

sim speed1.0×

Disturbance is matched (enters the control channel). With σ large and filter on CBF, the agent can clip obstacles. Switch to ISSf-CBF and lower ε to buy back a safety margin — watch the h(x) trace lift off zero.

Filter solves a QP each step: min ‖u−u_nom‖² s.t. for each obstacle L_f h + L_g h·u ≥ −γ·h (CBF) or … + (1/ε)‖L_g h‖² (ISSf-CBF, Kolathaya–Ames). Double integrator uses a 2nd-order (HOCBF) constraint. All computation runs in your browser.