Sufficient conditions and K-step exit-probability bounds are given for stochastic discrete-time control systems using affine and quadratic control barrier functions, including unbounded safe sets.
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Safety-Critical Control for Discrete-time Stochastic Systems with Flexible Safe Bounds using Affine and Quadratic Control Barrier Functions
Sufficient conditions and K-step exit-probability bounds are given for stochastic discrete-time control systems using affine and quadratic control barrier functions, including unbounded safe sets.