Control Barrier Functions: Theory and Applications

2019/03/27 by Ames, Aaron D., Coogan, Samuel, Egerstedt, Magnus +3 · 155 citations
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.1903.11199

Abstract

This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main technical results and discuss applications to several domains including robotic systems.

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