Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach

W. Xiao and C. Belta, “Control barrier functions for systems with high relative degree,” CoRR , vol. abs/1903.04706, 2019. [Online]. Available: http://arxiv.org/abs/1903.04706

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A. W. Singletary, K. Klingebiel, J. R. Bourne, N. A. Browning, P. T. Tokumaru, and A. D. Ames, “Comparative analysis of control barrier functions and artificial potential fields for obstacle avoidance,” 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 8129–8136, 2021

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J. Zeng, B. Zhang, and K. Sreenath, “Safety-critical model predictive control with discrete-time control barrier function,” in 2021 American Control Conference (ACC) , 2021, pp. 3882–3889

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——, “High-order control barrier functions,” IEEE Transactions on Automatic Control , vol. 67, no. 7, pp. 3655–3662, 2022

2022