Research paper
Control barrier functions · An overview for robot safety control
This overview explains how control barrier functions support verification and enforcement of safety properties in optimization-based controllers. It surveys theory and applications including robotics, providing methodological context rather than a test report for one robot.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Control Barrier Functions: Theory and Applications
- Publisher
- IEEE
- Authors
- Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada
- DOI
- 10.23919/ecc.2019.8796030
- Publication date
- 2019-06
- Source language
- en
- Edition
- 2019 18th European Control Conference (ECC); 2019; DOI 10.23919/ecc.2019.8796030
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
This overview explains how control barrier functions support verification and enforcement of safety properties in optimization-based controllers. It surveys theory and applications including robotics, providing methodological context rather than a test report for one robot.
Use and review
Checked author abstract and publication metadata. Application requires valid barriers, input limits and model assumptions; the overview itself establishes neither a safety function’s conformity nor certification.
Sources & editions
Control Barrier Functions: Theory and Applications ↗
IEEE · 2019 18th European Control Conference (ECC); 2019; DOI 10.23919/ecc.2019.8796030
ECC 2019 publication bibliography; author archive https://arxiv.org/abs/1903.11199v1 and CaltechAUTHORS matching DOI.