Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper
arXiv:2604.02401v1 Announce Type: new
Abstract: This paper revisits three backup-based safety filters — Backup Control Barrier Functions (Backup CBF), Model Predictive Shielding (MPS), and gatekeeper — through a unified comparative framework. Using …