A repeated-root differential constraint for higher-order control barrier functions is proposed to guarantee reaching a safe set within a user-specified fixed time, with second-order formulas and robot simulations.
Robust control barrier and control lyapunov functions with fixed-time convergence guarantees,
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Fixed time convergence guarantees for Higher Order Control Barrier Functions
A repeated-root differential constraint for higher-order control barrier functions is proposed to guarantee reaching a safe set within a user-specified fixed time, with second-order formulas and robot simulations.