A CBF-QP safety filter is applied to a tethered UAV, but the safety proof misuses a first-order barrier function for a relative-degree-two constraint.
Comparison between safety methods control barrier function vs. reachability analysis
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
abstract
This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following aspects: generality of system dynamics, difficulty of construction and computation cost. A standard Dubins car model will be evaluated numerically to make the comparison more concrete.
citation-role summary
background 1
citation-polarity summary
fields
eess.SY 1years
2025 1verdicts
REJECT 1roles
background 1polarities
unclear 1representative citing papers
citing papers explorer
-
Control Barrier Function-Based Quadratic Programming for SafeOperation of Tethered UAVs
A CBF-QP safety filter is applied to a tethered UAV, but the safety proof misuses a first-order barrier function for a relative-degree-two constraint.