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arXiv · 1903.11199

Control Barrier Functions: Theory and Applications

Aaron D. Ames·Samuel Coogan·Magnus Egerstedt·Gennaro Notomista·Koushil Sreenath·Paulo Tabuada
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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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Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada. 2019-03-27. Control Barrier Functions: Theory and Applications. https://arxiv.org/abs/1903.11199

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