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eess.SY2026
TTCBF: A Truncated Taylor Control Barrier Function for High-Order Safety Constraints
Jianye Xu, Bassam Alrifaee
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree…
eess.SY2025
High-Order Control Barrier Functions: Insights and a Truncated Taylor-Based Formulation
Jianye Xu, Bassam Alrifaee
We examine the complexity of the standard High-Order Control Barrier Function (HOCBF) approach and propose a truncated Taylor-based approach that reduces design parameters. First,…