Discrete-time barrier functions for fixed-wing aircraft and lane-changing cars are derived, and a fixed evasive override gives zero simulated safety violations with near-baseline RL reward.
Analysis and control of non-affine, non-standard, singularly perturbed systems,
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Barrier Function Overrides For Non-Convex Fixed Wing Flight Control and Self-Driving Cars
Discrete-time barrier functions for fixed-wing aircraft and lane-changing cars are derived, and a fixed evasive override gives zero simulated safety violations with near-baseline RL reward.