Abstract: Discrete-time Control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper ...

This is a reference implementation and will not be actively maintained in the future. The code in this repository is a refactored version of the codebase we used to produce the results in the paper ...

Trigonometric graphs can be sketched when you know the amplitude, period, phase and maximum and minimum turning points. Learn about graphs of trigonometric functions in this National 5 Maths guide.