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math.OC2023
Almost-Sure Safety Guarantees of Stochastic Zero-Control Barrier Functions Do Not Hold
Oswin So, Andrew Clark, Chuchu Fan
The 2021 paper "Control barrier functions for stochastic systems" provides theorems that give almost sure safety guarantees given stochastic zero control barrier function (ZCBF). U…
math.OC2023
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems
Oswin So, Zachary Serlin, Makai Mann +4
Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to cons…