Survey Paper on Control Barrier Functions

Abstract

Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational principles of CBFs, delves into the complexities of High Order Control Barrier Functions (HOCBFs), and extends the discussion to the adaptive realm with adaptive Control Barrier Functions (aCBFs). Through a systematic examination of theoretical underpinnings, practical applications, and the evolving landscape of research, this survey highlights the versatility of CBFs in addressing safety and stability challenges.