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Control Barrier Functions: Theory and Applications

Ames, Aaron D. and Coogan, Samuel and Egerstedt, Magnus and Notomista, Gennaro and Sreenath, Koushil and Tabuada, Paulo (2019) Control Barrier Functions: Theory and Applications. In: 2019 18th European Control Conference (ECC). IEEE , Piscataway, NJ, pp. 3420-3431. ISBN 978-3-907144-00-8.

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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.

Item Type:Book Section
Related URLs:
URLURL TypeDescription Paper
Ames, Aaron D.0000-0003-0848-3177
Tabuada, Paulo0000-0002-3417-0951
Additional Information:© 2019 EUCA.
Record Number:CaltechAUTHORS:20190410-120602158
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Official Citation:A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath and P. Tabuada, "Control Barrier Functions: Theory and Applications," 2019 18th European Control Conference (ECC), Naples, Italy, 2019, pp. 3420-3431. doi: 10.23919/ECC.2019.8796030
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94624
Deposited By: George Porter
Deposited On:11 Apr 2019 18:13
Last Modified:16 Nov 2021 17:06

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