Unified Overview of Safety Certificate Functions: Techniques from Hamilton--Jacobi Reachability and Control Barrier Functions
Unified Overview of Safety Certificate Functions: Techniques from Hamilton--Jacobi Reachability and Control Barrier Functions
This tutorial provides a comprehensive overview of safety certificate synthesis methods, focusing on Hamilton-Jacobi reachability analysis and control barrier functions. It introduces general formulations, classical and learning-based tools for each approach, and evaluates their performance using benchmark vehicle systems of varying complexity to offer practical guidance for selecting appropriate techniques in safety-critical control.
This tutorial synthesizes methods for generating safety certificates using Hamilton-Jacobi reachability and control barrier functions, offering benchmark comparisons on vehicle systems to guide selection of synthesis techniques.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org