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arXiv · 2604.02401

Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper

Taekyung Kim·Aswin D. Menon·Akshunn Trivedi·Dimitra Panagou
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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 a common safety-filter abstraction and shared notation, we make explicit both their common backup-policy structure and their key algorithmic differences. We compare the three methods through their filter-inactive sets, i.e., the states where the nominal policy is left unchanged. In particular, we show that MPS is a special case of gatekeeper, and we further relate gatekeeper to the interior of the Backup CBF inactive set within the implicit safe set. This unified view also highlights a key source of conservatism in backup-based safety filters: safety is often evaluated through the feasibility of a backup maneuver, rather than through the nominal policy's continued safe execution. The paper is intended as a compact tutorial and review that clarifies the theoretical connections and differences among these methods.

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Taekyung Kim, Aswin D. Menon, Akshunn Trivedi, Dimitra Panagou. 2026-04-02. Backup-Based Safety Filters: A Comparative Review of Backup CBF, Model Predictive Shielding, and gatekeeper. https://arxiv.org/abs/2604.02401

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