Log-sum-exp smoothing of nonsmooth safe sets defined by min of C1 functions produces valid CBFs for a range of smoothing parameters, ensuring uniform feasibility for smoothed backup CBFs when a compact backup set is safe under a backup controller plus boundary safety conditions.
Disturbance-robust backup control barrier functions: Safety under uncertain dynamics,
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Uniform Feasibility For Smoothed Backup Control Barrier Functions
Log-sum-exp smoothing of nonsmooth safe sets defined by min of C1 functions produces valid CBFs for a range of smoothing parameters, ensuring uniform feasibility for smoothed backup CBFs when a compact backup set is safe under a backup controller plus boundary safety conditions.