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arXiv · 2106.13176

Comparison between safety methods control barrier function vs. reachability analysis

Zhichao Li
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Abstract

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.

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Zhichao Li. 2021-06-24. Comparison between safety methods control barrier function vs. reachability analysis. https://arxiv.org/abs/2106.13176

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