Safety-critical control approach for groundvehicles based on Control Barrier Functions (CBF)

#safety #stability #ras

In this presentation, Marianna will introduce a safety-critical control approach for groundvehicles based on Control Barrier Functions (CBF).
The controller is designed to maintain yaw stability by keeping the vehicle's states within a
safe region in the sideslip–yaw rate space. Through simulations of emergency maneuverssuch as the Sine with Dwell, she will demonstrate how braking-based interventions canenhance safety under critical conditions.The talk will include the control formulation, safety guarantees, and simulation results thathighlight the effectiveness of the approach.