Robust Control Barrier-Value Functions for Safety-Critical Control.
作者： Claire J. Tomlin , Koushil Sreenath , Donggun Lee , Sylvia L. Herbert , Jason J. Choi
DOI:
关键词: Robust control 、 Mathematical optimization 、 Function (mathematics) 、 Optimal control 、 Variational inequality 、 Reachability 、 Computer science 、 Viscosity solution 、 Quadratic programming 、 Dynamical system
摘要: This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability has …
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