Dynamic safety margins are shown to be control barrier functions for an augmented state-reference system, enabling constraint handling agnostic to relative degree and supporting multiple constraints via control sharing.
On the safety of connected cruise control: analysis and synthesis with control barrier functions,
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Using Dynamic Safety Margins as Control Barrier Functions
Dynamic safety margins are shown to be control barrier functions for an augmented state-reference system, enabling constraint handling agnostic to relative degree and supporting multiple constraints via control sharing.