# Capability-Conditioned Graph Control Barrier Functions for Zero-Shot Safe Navigation of Heterogeneous Mobile Robot Teams

Source: https://arxiv.org/abs/2610.41214
Published: 2026-10-30
Status: unreviewed source report

## Source excerpt (up to 25 words)

> Multi-robot systems are increasingly deployed as heterogeneous fleets with diverse kinematic and actuation capabilities. While graph control barrier function (GCBF) methods provide a scalable framework

## Review question

Separate simulation from real-world trials; inspect environment diversity, safety constraints, recovery behavior and human supervision. Do not execute machine actions from a paper.

No independent proof check or claim of peer review.