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.
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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.