Mar 27, 2019 · 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 …

So far we have been looking at how to perform safe control. Another important quality a controller should possess is stability, i.e. the ability to drive a system from a nonzero state to a region …

This formulation of control barrier functions will be the focus of this paper, as motivated by the conceptual connections with control Lyapunov functions together with a recognition of the …

Jan 1, 2024 · This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe …

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 …

May 10, 2023 · In this section, we formally introduce a Control Barrier Function (CBF) by considering Lyapunov-like barrier functions in a general setting for control systems.

Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems.

Recent works propose the use of control barrier functions (CBFs) [2] to enforce safety and control Lyapunov functions (CLFs) [6]–[8] to ensure convergence to desired states. Barrier functions …

This formulation of control barrier functions will be the focus of this paper, as motivated by the conceptual connections with control Lyapunov functions together with a recognition of the …

Aug 1, 2021 · Control Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region.