Abstract: Multirobot motion planning and control has been investigated for decades and is still an active research area due to the growing demand for both performance optimality and safety assurance.

Learn how to compose two linear functions. To compose two functions means to express one of the functions as a function of the other function. This is done by replacing the input variable of one of ...

This letter presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of ...