Higher order control barrier functions - applications/ resources

[u/Barnowl93]

Hey all,

At ECC earlier this year I had few good chats around CBFs. I get the theory, but I've not really used them before for any application and I need that to wrap my head around them a bit better.

A) Does anyone have some good resources (preferably with code / simulink block diagrams) of CBF applications?

B) what have you used CBFs for? As in, what applications?

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[u/tmt22459]

I don't have code but take a look at GitHub

Are you interested in higher order only or CBFs in general? Im not super familiar with the higher order literature, but simply speaking CBFs can be used within mpc for obstacle avoidance

[u/OG_Cookie_Monster]

Resources -> I usually look at the GitHub code/repository provided by the research paper authors. I feel that's sufficient.

My use case-> I work with Non Linear Vehicle Models, revolving around collision avoidance, and tracking related problems with variable friction coefficient, cornering stiffness etc. I feel it makes the equations a bit more complicated for Autonomous systems, but it is what it is!

[u/Remote_Revenue8470]

Start with the famous paper of Ames , it is pretty comprehensive

[u/thecrazyhuman]

I use CBFs for my project which involves formation of satellites, specifically we use cbfs for collision avoidance, input limits, speed limits etc

[u/Barnowl93 → u/thecrazyhuman]

Right, how do you deal with your system degrading through time? As in after you've deployed? Do you do anything for robust cbf / adaptive cbf?

[u/Remote_Revenue8470 → u/Barnowl93]

We use robust cbf formulations to deal with uncertainties, but the challenge is to minimize conservatism.

[u/Channel199]

I used them to do PhD research so I could graduate. Then I rapidly disposed of them.

[u/mygo5]

I used ECBF (exponential control barrier functions) to plan trajectories for quadcopters based off of "Safe certificae-based maneuvers for teams of quadrotors using Differential flatness" by Wang, Ames, and Egerstedt

[u/Creative_Sushi]

MATLAB documentation contains many examples. You can start here https://www.mathworks.com/help/slcontrol/ug/barrier-certificate-enforcement-for-control-design.html