The paper presents an exact-time safety recovery method for control-affine systems via time-varying CBFs with optimal barrier tracking that forces the barrier to follow a prescribed recovery trajectory.
Nonsmooth barrier func- tions with applications to multi-robot systems
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Combinatorial stabilization and reach-avoid filters enforce r-out-of-p contingency requirements using CLFs and Hamilton-Jacobi sets with only p+1 constraints.
citing papers explorer
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Exact-Time Safety Recovery using Time-Varying Control Barrier Functions with Optimal Barrier Tracking
The paper presents an exact-time safety recovery method for control-affine systems via time-varying CBFs with optimal barrier tracking that forces the barrier to follow a prescribed recovery trajectory.
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Steering with Contingencies: Combinatorial Stabilization and Reach-Avoid Filters
Combinatorial stabilization and reach-avoid filters enforce r-out-of-p contingency requirements using CLFs and Hamilton-Jacobi sets with only p+1 constraints.