Fast, Smooth, and Safe: Implicit Control Barrier Functions Through Reach-Avoid Differential Dynamic Programming
Control barrier functions (CBFs) provide a smooth way to modulate unsafe controls. However, finding a CBF usually relies on heuristics and is computed offline. In this work, we develop a principled and online synthesis of CBF using reach-avoid differential dynamic programming.
@article{kumar2023cbfddp,
author={Ramesh Kumar, Athindran and Hsu, Kai-Chieh and Ramadge, Peter J. and Fisac, Jaime F.},
journal={IEEE Control Systems Letters},
title={Fast, Smooth, and Safe: Implicit Control Barrier Functions Through Reach-Avoid Differential Dynamic Programming},
year={2023},
volume={7},
number={},
pages={2994-2999},
doi={10.1109/LCSYS.2023.3292132}}
