Output feedback backup control barrier functions guarantee true-state safety by enforcing safety on an uncertainty envelope around estimated flows, even with input bounds.
Forward and control invariance analysis of backup control barrier function induced safe sets for online safety of nonlinear systems,
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Output Feedback Backup Control Barrier Functions: Safety Guarantees Under Input Bounds and State Estimation Error
Output feedback backup control barrier functions guarantee true-state safety by enforcing safety on an uncertainty envelope around estimated flows, even with input bounds.