# Control Barrier Functions: Theory and Applications

## TL;DR

This paper reviews recent advances in control barrier functions, highlighting their theoretical foundations and practical applications in ensuring safety in safety-critical control systems, especially in robotics.

## Contribution

It offers a comprehensive survey of control barrier functions, summarizing key theoretical results and demonstrating their applications across various domains.

## Key findings

- Control barrier functions effectively verify safety properties.
- They enable the design of safety-critical controllers.
- Applications include robotic systems and other safety-critical domains.

## Abstract

This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main technical results and discuss applications to several domains including robotic systems.