A unified energy-function framework covers four safe control methods; a new sublevel safe set algorithm is claimed to outperform them, but the benchmark evidence is under-powered and over-fit.
Control in a safe set: Addressing safety in human-robot interactions,
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Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions
A unified energy-function framework covers four safe control methods; a new sublevel safe set algorithm is claimed to outperform them, but the benchmark evidence is under-powered and over-fit.