The paper presents an exact-time safety recovery method for control-affine systems via time-varying CBFs with optimal barrier tracking that forces the barrier to follow a prescribed recovery trajectory.
Decentralized time and energy-optimal control of connected and automated vehicles in a roundabout with safety and comfort guarantees,
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Exact-Time Safety Recovery using Time-Varying Control Barrier Functions with Optimal Barrier Tracking
The paper presents an exact-time safety recovery method for control-affine systems via time-varying CBFs with optimal barrier tracking that forces the barrier to follow a prescribed recovery trajectory.