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eess.SY2026
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…
eess.SY2026
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…