A finite-horizon optimal control problem yields a control barrier function with explicit class-K gain, larger safe domain, and reuse under time-varying constraints.
Runtime assurance for safety-critical systems: An introduction to safety filtering approaches for complex control systems,
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Predictive Synthesis of Control Barrier Functions and its Application to Time-Varying Constraints
A finite-horizon optimal control problem yields a control barrier function with explicit class-K gain, larger safe domain, and reuse under time-varying constraints.