Symmetries in system dynamics and constraints let safety (barrier) functions be inferred across the whole state space from values on a small subset, and let partially known barrier functions seed new ones for asymmetric constraints.
Handling disjunctions in signal temporal logic based control through nonsmooth barrier functions,
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Leveraging Equivariances and Symmetries in the Control Barrier Function Synthesis
Symmetries in system dynamics and constraints let safety (barrier) functions be inferred across the whole state space from values on a small subset, and let partially known barrier functions seed new ones for asymmetric constraints.