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In this paper, we introduce a class of future-focused control barrier functions (ff-CBF) aimed at improving traditionally myopic CBF based control design and study their efficacy in the context of an unsignaled four-way intersection crossing problem for collections of both communicating and non-communicating autonomous vehicles.
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J. Breeden and D. Panagou, “Predictive control barrier functions for online safety critical control,” arXiv preprint arXiv:2204:00208 , 2022
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A. Singletary, A. Swann, Y. Chen, and A. D. Ames, “Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions,” IEEE Robotics and Automation Letters , vol. 7, no. 2, pp. 2897–2904, 2022
2022
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