A sampled-data safety filter that compares a safety function at consecutive sampling instants, avoiding derivatives and handling input-dependent and high-relative-degree constraints.
Control barrier function based quadratic programs with application to adaptive cruise control,
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Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
A sampled-data safety filter that compares a safety function at consecutive sampling instants, avoiding derivatives and handling input-dependent and high-relative-degree constraints.