Preprint
Oct 2026
Neural Barriers: An Online Certifiable Learning-enhanced Adaptive High Order Safety Critical Control
Control barrier functions are an effective model-based tool to formally certify the safety of a system. However, transferring their theoretical guarantees to real-world robotics systems requires high model fidelity. For example, payloads or wind disturbances can cause significant model perturbations to an aerial vehicl...
Li-Shuo Pan, Mattia Catellani, An Cao et al.
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