Control Barrier Functions: Theory and Applications

@article{Ames2019ControlBF,
  title={Control Barrier Functions: Theory and Applications},
  author={A. Ames and S. Coogan and M. Egerstedt and Gennaro Notomista and K. Sreenath and P. Tabuada},
  journal={2019 18th European Control Conference (ECC)},
  year={2019},
  pages={3420-3431}
}
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. 
Correct-by-Design Control Barrier Functions for Euler-Lagrange Systems with Input Constraints
Comparison between safety methods control barrier function vs. reachability analysis
Safe Adaptation Using Energy Functions
Integral Control Barrier Functions for Dynamically Defined Control Laws
Contraction L 1-Adaptive Control using Gaussian Processes
Learning for Safety-Critical Control with Control Barrier Functions
Extent-Compatible Control Barrier Functions
Constrained Control for Optimal Collaborative Applications
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 53 REFERENCES
CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS
Set invariance in control
Uniting Control Lyapunov and Control Barrier Functions
Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints
Safety-critical and constrained geometric control synthesis using control Lyapunov and control Barrier functions for systems evolving on manifolds
Stabilization with guaranteed safety using Control Lyapunov-Barrier Function
Constructive Barrier Certificates with Applications to Fixed-Wing Aircraft Collision Avoidance
Control barrier function based quadratic programs with application to bipedal robotic walking
Barrier Lyapunov Functions for the control of output-constrained nonlinear systems
Safety Barrier Certificates for Collisions-Free Multirobot Systems
...
1
2
3
4
5
...