Control Barrier Functions: Theory and Applications
arXiv:1903.111992288 citationsh-index: 67
AI Analysis
Provides a foundational overview of safety verification for control systems, relevant to researchers and practitioners in robotics and control.
This paper surveys control barrier functions for verifying and enforcing safety in optimization-based controllers, with applications to robotic systems.
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.