3 citations · 3 across the 2 of their papers we have counts for
4 papers · 1 filter
Robust Dynamic Safety Margins are Robust Control Barrier Functions
Victor Freire, Saber Jafarpour, Marco M. Nicotra
This paper establishes robustness properties for control barrier functions (CBFs) constructed using dynamic safety margins (DSMs). We show that DSMs can act as robust CBFs by lever…
Using Finite-Time Control to Synthesize Dynamic Backup Control Barrier Functions
Victor Turpin-Aguayo, Victor Freire, Marco M. Nicotra
This paper presents a novel approach for the construction of control barrier functions (CBFs) for controllable linear systems subject to multiple state and input constraints. The a…
Designing Control Barrier Functions Using a Dynamic Backup Policy
Victor Freire, Marco M. Nicotra
This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspi…
Using Dynamic Safety Margins as Control Barrier Functions
Victor Freire, Marco M. Nicotra
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particul…