Combinatorial stabilization and reach-avoid filters enforce r-out-of-p contingency requirements using CLFs and Hamilton-Jacobi sets with only p+1 constraints.
Com- binatorial control barrier functions: Nested boolean and p-choose-r compositions of safety constraints
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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.