Abstract
In this chapter, we consider three applications of the use of CBFs and HOCBFs to problems that involve safety-critical tasks commonly encountered in robotics. In Sect. 10.1, we look at typical ground robot tasks, in which obstacle avoidance is crucial. In Sect. 10.2, we consider autonomous driving, where a vehicle is required to satisfy complex specifications imposed by traffic laws and expectations regarding reasonable driving behavior. Finally, in Sect. 10.3, we consider safe navigation tasks for an aerial vehicle.
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© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
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Xiao, W., Cassandras, C.G., Belta, C. (2023). Applications to Robotics. In: Safe Autonomy with Control Barrier Functions. Synthesis Lectures on Computer Science. Springer, Cham. https://doi.org/10.1007/978-3-031-27576-0_10
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DOI: https://doi.org/10.1007/978-3-031-27576-0_10
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Publisher Name: Springer, Cham
Print ISBN: 978-3-031-27575-3
Online ISBN: 978-3-031-27576-0
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