CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS

This paper presents a new safety feedback design for nonlinear systems based on barrier certificates and the idea of control Lyapunov functions. In contrast to existing methods, this approach ensures safety independently of abstract high-level tasks that might be unknown or change over time. Leaving as much freedom as possible to the safe system, the authors believe that the flexibility of this approach is very promising. The design is validated using an illustrative example.