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.
Cite
@article{arxiv.1903.11199,
title = {Control Barrier Functions: Theory and Applications},
author = {Aaron D. Ames and Samuel Coogan and Magnus Egerstedt and Gennaro Notomista and Koushil Sreenath and Paulo Tabuada},
journal= {arXiv preprint arXiv:1903.11199},
year = {2019}
}