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math.OC2026
Optimal Decay Matrix Control Barrier Functions: Soundness and Completeness for Matrix Safety Constraints
Samuel G. Gessow, Albert Wu, Aaron D. Ames +1
Many safety requirements, such as keeping a manipulator away from kinematic singularities, a network connected, or a system observable, amount to keeping a state-dependent matrix p…
math.OC2026
High-Order Matrix Control Barrier Functions: Well-Posedness and Feasibility via Matrix Relative Degree
Samuel G. Gessow, Pio Ong, Aaron D. Ames +1
Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more natural…