Titlebook: Safe Autonomy with Control Barrier Functions; Theory and Applicati Wei Xiao,Christos G. Cassandras,Calin Belta Book 2023 The Editor(s) (if

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,Hierarchical Optimal Control with Barrier Functions,d guaranteed safety in real-time control. The key idea is to first generate trajectories by solving a tractable optimal control problem and then track these trajectories using a controller that simultaneously ensures that all state and control constraints are satisfied at all times. We call the resu

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,Applications to Autonomous Vehicles in Traffic Networks,the coordination of Connected Autonomous Vehicles (CAVs) in traffic networks. The control and coordination of CAVs is particularly challenging at critical conflict areas of a transportation system. We consider three specific applications corresponding to traffic merging (Section 9.1), roundabouts (S

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,Hierarchical Optimal Control with Barrier Functions,lt of this two-step process .. In Sect. 8.1, we formulate a general class of constrained optimal control problems and outline the OCBF approach. In Sect. 8.2, we detail the OCBF solution approach, including the possibility of noise in the system dynamics.