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Control Barrier Functions: Theory and Applications

Authors
Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada
Year
2019
Conference Paper
Algorithm
CBF-QP
Source
18th European Control Conference (ECC)
Identifiers
arXiv 1903.11199 DOI 10.23919/ecc.2019.8796030

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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External

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Tags

Robotics Control barrier functions Safety Optimization Control

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