Safety is an essential requirement for any control system, be it a simple home appliance that
should not overheat or an aircraft that should not place its passengers' lives at risk. However …

Autonomous systems are ubiquitous—their applications include autonomous driving,
agriculture, military operations, food production and delivery, and exploration of hazardous …

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 …

Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …

Safety guarantees are of paramount importance in safety-critical systems, particularly those
that involve human interaction, such as autonomous vehicles. To define safety in the context …

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 …

Accompanying the technological advances of the past decade has been the promise for
widespread growth of autonomous systems into nearly all domains of human society …

There is currently a clear gap between control-theoretical results and the reality of robotic
implementation, in the sense that it is very difficult to transfer analytical guarantees to …

This paper presents an overview of the state of the art for safety-critical optimal control of
autonomous systems. Optimal control methods are well studied, but become …

This paper addresses the challenge of integrating explicit hard constraints into the control
barrier function (CBF) framework for ensuring safety in autonomous systems, including …