This book presents the concept of Control Barrier Function (CBF), which captures the
evolution of safety requirements during the execution of a system and can be used to …

We address the problem of optimizing the performance of a dynamic system while satisfying
hard safety constraints at all times. Implementing an optimal control solution is limited by the …

Balancing safety and performance is one of the predominant challenges in modern control
system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary …

This tutorial paper presents recent work of the authors that extends the theory of Control
Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers …

Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for
the safety-critical control of autonomous systems. These approaches encode safety through …

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of
stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing …

Safety is one of the fundamental problems in robotics. Recently, a quadratic program based
control barrier function (CBF) method has emerged as a way to enforce safety-critical …

Endowing nonlinear systems with safe behavior is increasingly important in modern control.
This task is particularly challenging for real-life control systems that operate in dynamically …

Safety-critical control is characterized as ensuring constraint satisfaction for a given
dynamical system. Recent developments in zeroing control barrier functions (ZCBFs) have …

Control barrier functions (CBFs) have recently emerged as a means to ensure safety of
controlled dynamical systems. CBFs are suitable for obstacle avoidance, where the CBF is …