Safety Uncertainty in Control Barrier Functions using Gaussian Processes
Mouhyemen Khan Tatsuya Ibuki Abhijit Chatterjee Mouhyemen Khan Tatsuya Ibuki Abhijit Chatterjee
For a dynamical system, safety is typically guaranteed by constraining the system states within a set defined a priori. A popular approach is to use control barrier functions (CBFs) that encode safety using a smooth function. However, typical constructions of the smooth function do not account for any notion of safety uncertainty for the system inside the safe set. Although, one can formulate unce...