Comparison between safety methods control barrier function vs. reachability analysis
arXiv:2106.13176v130 citations
Originality Synthesis-oriented
AI Analysis
This is an incremental comparison of existing safety methods for robotics or control systems.
The report compares control barrier functions and Hamilton-Jacobi reachability analysis for safety methods, focusing on generality, construction difficulty, and computation cost, using a Dubins car model for numerical evaluation.
This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following aspects: generality of system dynamics, difficulty of construction and computation cost. A standard Dubins car model will be evaluated numerically to make the comparison more concrete.