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Comparison between safety methods control barrier function vs. reachability analysis

06/24/2021

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by Zhichao Li, et al.

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This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following aspects: generality of system dynamics, difficulty of construction and computation cost. A standard Dubins car model will be evaluated numerically to make the comparison more concrete.

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