Control Barrier Functions: Theory and Applications

Control Barrier Functions: Theory and Applications. Ames, A. D., Coogan, S., Egerstedt, M., Notomista, G., Sreenath, K., & Tabuada, P. In 2019 18th European Control Conference (ECC), pages 3420–3431, June, 2019.
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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.

@inproceedings{ames_control_2019,
	title = {Control {Barrier} {Functions}: {Theory} and {Applications}},
	copyright = {5},
	shorttitle = {Control {Barrier} {Functions}},
	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.},
	booktitle = {2019 18th {European} {Control} {Conference} ({ECC})},
	author = {Ames, Aaron D. and Coogan, Samuel and Egerstedt, Magnus and Notomista, Gennaro and Sreenath, Koushil and Tabuada, Paulo},
	month = jun,
	year = {2019},
	keywords = {control barrier functions, optimisation, optimization, robotic systems, robots, safety properties, safety-critical controllers},
	pages = {3420--3431},
}

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