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Comparison between safety methods control barrier function vs. reachability analysis

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arxiv 2106.13176 v1 pith:QDMQ6JH7 submitted 2021-06-24 eess.SY cs.ROcs.SY

Zhichao Li This is my paper · ORCID
classification eess.SYcs.ROcs.SY
keywords analysisbarriercomparisoncontrolfunctionmethodsreachabilitysafety
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This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following aspects: generality of system dynamics, difficulty of construction and computation cost. A standard Dubins car model will be evaluated numerically to make the comparison more concrete.

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Cited by 1 Pith paper

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. Control Barrier Function-Based Quadratic Programming for SafeOperation of Tethered UAVs

    eess.SY 2025-02 reject novelty 4.0 of 10

    A CBF-QP safety filter is applied to a tethered UAV, but the safety proof misuses a first-order barrier function for a relative-degree-two constraint.

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