Control barrier functions: Theory and applications

A. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, P. Tabuada
European Control Conference, 2019


This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main technical results and discuss applications to several domains including robotic systems.