Control Barrier Functions: Theory and Applications

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 incl...

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Published in2019 18th European Control Conference (ECC) pp. 3420 - 3431
Main Authors Ames, Aaron D., Coogan, Samuel, Egerstedt, Magnus, Notomista, Gennaro, Sreenath, Koushil, Tabuada, Paulo
Format Conference Proceeding
LanguageEnglish
Published EUCA 01.06.2019
Subjects
Autonomous systems
Control systems
Europe
Optimization
Pressing
Robots
Safety
Surveys
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DOI10.23919/ECC.2019.8796030

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Summary: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.
DOI:10.23919/ECC.2019.8796030