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Control Barrier Functions: Theory and Applications
Control Barrier Functions: Theory and Applications
A. Ames,S. Coogan,3 Autores,P. Tabuada
2019 · DOI: 10.23919/ECC.2019.8796030
European Control Conference · 2,148 citas
TLDR
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.
Resumen
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.