Comparison between safety methods control barrier function vs. reachability analysis
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Abstract (arXiv)
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.
Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). First posted on arXiv 24 Jun 2021.
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Citing papers per year: 2021: 1; 2022: 2; 2023: 2; 2024: 1.
6 papers.
- 2021BarrierNet: A Safety-Guaranteed Layer for Neural Networkscited by 12
- 2022On the Forward Invariance of Neural ODEscited by 11
- 2022Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Drivingcited by 10
- 2024Optimal control barrier functions for RL based safe powertrain controlcited by 3
- 2023Safe Reinforcement Learning for an Energy-Efficient Driver Assistance Systemcited by 2
- 2023Control invariant set enhanced safe reinforcement learning: improved sampling efficiency, guaranteed stability and robustnesscited by 2
- 2024Optimal control barrier functions for RL based safe powertrain control18 May 2024
- 2023Control invariant set enhanced safe reinforcement learning: improved sampling efficiency, guaranteed stability and robustness24 May 2023
- 2023Safe Reinforcement Learning for an Energy-Efficient Driver Assistance System3 Jan 2023
- 2022On the Forward Invariance of Neural ODEs10 Oct 2022
- 2022Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Driving4 Mar 2022
- 2021BarrierNet: A Safety-Guaranteed Layer for Neural Networks22 Nov 2021