{"ID":2831208,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.08607","arxiv_id":"2512.08607","title":"Decoupled Design of Time-Varying Control Barrier Functions via Equivariances","abstract":"This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components, leveraging structural properties of the system dynamics. The method involves the construction of a specific class of time-invariant CBFs that encode the system's dynamic capabilities with respect to a given constraint, and augments them subsequently with appropriately designed time-dependent transformations. While transformations uniformly varying the time-invariant CBF can be applied to arbitrary systems, transformations exploiting structural properties in the dynamics - equivariances in particular - enable the handling of a broader and more expressive class of time-varying constraints. The article shows how to leverage such properties in the design of time-varying CBFs. The proposed method decouples the design of time variations from the computationally expensive construction of the underlying CBFs, thereby providing a computationally attractive method to the design of time-varying CBFs. The method accounts for input constraints and under-actuation, and requires only qualitative knowledge on the time-variation of the constraints making it suitable to the application in uncertain environments.","short_abstract":"This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components, leveraging structural properties of the system dynamics. The method involves the construction of a specific class of time-invariant CBFs tha...","url_abs":"https://arxiv.org/abs/2512.08607","url_pdf":"https://arxiv.org/pdf/2512.08607v1","authors":"[\"Adrian Wiltz\",\"Dimos V. Dimarogonas\"]","published":"2025-12-09T13:51:07Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false}