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most citedCharacterization and Mitigation of Insufficiencies in Automated Driving Systems

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math.OC2023

Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging

Alexander Katriniok, Erfan Shakhesi, W. P. M. H. Heemels

In this paper, we present conditions under which the terminal ingredients, defined by discrete-time control barrier function (DTCBF) certificates, guarantee recursive feasibility i…