Gives necessary and sufficient exactness certificates based on primal and dual feasibility for when a violated-set closed-form correction equals the exact Euclidean projection in CBF safety filters.
IEEE Transactions on Automatic Control , volume=
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Exactness Certificates for Closed-Form CBF Safety-Filter Projections
Gives necessary and sufficient exactness certificates based on primal and dual feasibility for when a violated-set closed-form correction equals the exact Euclidean projection in CBF safety filters.