Corpus ID: 210839260

Extent-Compatible Control Barrier Functions

@article{Srinivasan2020ExtentCompatibleCB,
  title={Extent-Compatible Control Barrier Functions},
  author={Mohit Srinivasan and Matthew R. Abate and Gustav Nalin Nilsson and Samuel Coogan},
  journal={ArXiv},
  year={2020},
  volume={abs/2001.07210}
}
  • Mohit Srinivasan, Matthew R. Abate, +1 author Samuel Coogan
  • Published in ArXiv 2020
  • Computer Science, Engineering
  • Safety requirements in dynamical systems are commonly enforced with set invariance constraints over a safe region of the state space. Control barrier functions, which are Lyapunov-like functions for guaranteeing set invariance, are an effective tool to enforce such constraints and guarantee safety when the system is represented as a point in the state space. In this paper, we introduce extent-compatible control barrier functions as a tool to enforce safety for the system including its volume… CONTINUE READING

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