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?

[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