SACBFs guarantee continuous-time safety and finite-time reach-and-remain under zero-order-hold control by estimating inter-sample barrier evolution with Taylor upper bounds and adding a relaxed variant for multiple constraints.
Control-lyapunov and control-barrier functions based quadratic program for spatio-temporal specifications,
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Sampling-Aware Control Barrier Functions for Safety-Critical and Finite-Time Constrained Control
SACBFs guarantee continuous-time safety and finite-time reach-and-remain under zero-order-hold control by estimating inter-sample barrier evolution with Taylor upper bounds and adding a relaxed variant for multiple constraints.