Probabilistically safe controllers based on control barrier functions and scenario model predictive control

Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain conditions. This motivated research on safety filters based on mode...

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Veröffentlicht in:	arXiv.org 2024-09
Hauptverfasser:	do Nascimento, Allan Andre, Papachristodoulou, Antonis, Margellos, Kostas
Format:	Artikel
Sprache:	eng
Schlagworte:	Closed loops Collision avoidance Constraints Controllers Performance prediction Predictive control Probability theory Real time Unmanned aerial vehicles
Online-Zugang:	Volltext
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