Safety of Dynamical Systems With Multiple Non-Convex Unsafe Sets Using Control Barrier Functions

  title={Safety of Dynamical Systems With Multiple Non-Convex Unsafe Sets Using Control Barrier Functions},
  author={Gennaro Notomista and Matteo Saveriano},
  journal={IEEE Control Systems Letters},
This letter presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high computational complexity in case of general nonlinear systems. Leveraging control barrier functions, on the other hand, results in computationally efficient control algorithms. Nevertheless, when safety guarantees have to be enforced alongside stability… Expand

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