{
  "id": "2403.09865",
  "version": "v1",
  "published": "2024-03-14T20:55:55.000Z",
  "updated": "2024-03-14T20:55:55.000Z",
  "title": "Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models",
  "authors": [
    "Max H. Cohen",
    "Tamas G. Molnar",
    "Aaron D. Ames"
  ],
  "comment": "To appear in Annual Reviews in Control",
  "categories": [
    "cs.SY",
    "cs.RO",
    "eess.SY"
  ],
  "abstract": "Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2024-03-14T20:55:55.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "control barrier functions",
      "reduced-order models",
      "safety-critical control",
      "autonomous systems",
      "high-dimensional nonlinear dynamics"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}