{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/composing-control-barrier-functions-for","title":"Composing Control Barrier Functions for Complex Safety Specifications","arxiv_id":"2309.06647","date":"2023-09-13","proceeding":null,"authors":["Tamas G. Molnar","Aaron D. Ames"],"abstract":"The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control barrier functions (CBFs). The specifications are formulated as Boolean compositions of state constraints, and we propose an algorithmic way to create a single continuously differentiable CBF that captures these constraints and enables safety-critical control. We describe the properties of the proposed CBF, and we demonstrate its efficacy by numerical simulations.","url_abs":"https://arxiv.org/abs/2309.06647v2","url_pdf":"https://arxiv.org/pdf/2309.06647v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"composing-control-barrier-functions-for","repo_url":"https://github.com/molnartamasg/cbfs-for-complex-safety-specs","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2309.06647","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}