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 …

The increasing complexity of control systems necessitates control laws that guarantee safety
wrt complex combinations of constraints. In this letter, we propose a framework to describe …

Safety in dynamical systems is commonly pursued using control barrier functions (CBFs)
which enforce safety-constraints over the entire duration of a system's evolution. We propose …

To guide a robotic swarm in a cluttered environment, a curve virtual tube is designed in this
paper. There is no obstacle within the curve virtual tube, and the area inside can be seen as …

This paper presents a provably safe method for constrained reorientation of a spacecraft in
the presence of input constraints, bounded disturbances, and fixed frequency zero-order …

The safety-critical control of robotic systems often must account for multiple, potentially
conflicting, safety constraints. This paper proposes novel relaxation techniques to address …

Control Barrier Functions (CBFs) provide an elegant framework for designing safety filters for
nonlinear control systems by constraining their trajectories to an invariant subset of a …

In this paper, we develop a novel adaptation-based approach to constrained control design
under multiple state and input constraints. Specifically, we introduce a method for …

Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF)
based constraints have been used to design safety-critical controllers. However, ensuring …

Learning-based approaches for constructing Control Barrier Functions (CBFs) are
increasingly being explored for safety-critical control systems. However, these methods …