High-order matrix control barrier functions provide well-posed and feasible constraints for enforcing matrix-valued safety in high-order dynamical systems.
A scalable safety critical control framework for nonlinear systems
2 Pith papers cite this work. Polarity classification is still indexing.
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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.
citing papers explorer
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High-Order Matrix Control Barrier Functions: Well-Posedness and Feasibility via Matrix Relative Degree
High-order matrix control barrier functions provide well-posed and feasible constraints for enforcing matrix-valued safety in high-order dynamical systems.
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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.