The authors introduce an output-feedback CBF framework using expectation-based barrier conditions and Jensen inequality bounds to conservatively enforce safety in stochastic systems with partial observations.
Control barrier function based quadratic programs for safety critical systems,
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Output-Feedback Safe Control of Discrete-Time Stochastic Systems with Chance Constraints
The authors introduce an output-feedback CBF framework using expectation-based barrier conditions and Jensen inequality bounds to conservatively enforce safety in stochastic systems with partial observations.