Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints

By Quan Nguyen, Koushil Sreenath. American Control Conference, 2016

610 citations recorded by the source corpus.

Subfields: Computational Theory and Mathematics, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/1d385c55a692705df8e77185aac626ca560ac32f

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computational Theory and Mathematics

1. Magnus Egerstedt
2. Calin A. Belta
3. Wei Xiao
4. Ayush Agrawal
5. Jun Zeng
6. Bike Zhang
7. Aaron D. Ames
8. Samuel D. Coogan

In Control and Systems Engineering

1. Koushil Sreenath
2. Bike Zhang
3. Jun Zeng
4. Calin A. Belta
5. Wei Xiao
6. Ayush Agrawal
7. Aaron D. Ames
8. Magnus Egerstedt

Citations in the corpus

• Safety Barrier Certificates for Collisions-Free Multirobot Systems (2017, background): “A more permissive control barrier function was proposed in [14], [18], and [19] with correctness guarantees.”
• Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function (2020, methodology): “bust, and stochastic cases of safety-critical control with CBFs have been considered in [18]–[21], and exponential CBFs could be used for high relative degree safety constraints for nonlinear systems [22]. Besides the continuous-time domain, the formulation of CBFs was generalized into discrete-time”
• Input-to-State Safety With Control Barrier Functions (2018, background): “Since h (defined by (35)) is relative degree two, we will choose exponential type of barrier functions [6].”
• Control Barrier Functions: Theory and Applications (2019, background): “Building off the work in [47], exponential control barrier functions were first introduced in [48] as a way to easily enforce high relative-degree safety constraints.”
• Control Barrier Functions for Systems with High Relative Degree (2019, methodology): “A more general form, which works for arbitrarily high relative degree constraints, was proposed in [12].”
• Control Barrier Function Based Quadratic Programs for Safety Critical Systems (2016, neutral): “See also [50] for an alternative approach.”
• Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation (2017, methodology): “For the formulation of exponential barrier functions presented in [25], we show that under certain conditions, the optimization problem is a Quadratically Constrained Quadratic Program (QCQP).”