This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although CBF-based safety filters are often implemented by solving a quadratic program (QP) in real time, the use of off-the-shelf solvers for such optimization problems poses a challenge in applications where control actions need to be computed efficiently at very high frequencies. In this paper, we introduce a closed-form expression for controllers obtained through CBF-based safety filters. This expression is obtained by partitioning the state-space into different regions, with a different closed-form solution in each region. We leverage this formula to introduce a resource-aware implementation of CBF-based safety filters that detects changes in the partition region and uses the closed-form expression between changes. We showcase the applicability of our approach in examples ranging from aerospace control to safe reinforcement learning.
@article{arxiv.2512.10118,
title = {Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation},
author = {Pol Mestres and Shima Sadat Mousavi and Pio Ong and Lizhi Yang and Ersin Das and Joel W. Burdick and Aaron D. Ames},
journal= {arXiv preprint arXiv:2512.10118},
year = {2026}
}