Okay, so it might look a little like the fiendish Vex, but the Minecraft allay doesn’t act like one. In fact, quite the opposite. The allay is a very helpful mob to have by your side, spurred…
This article aims at presenting an introductory overview of the theoretical framework of control barrier functions (CBFs) and of their application to the design of safety-related controllers for robotic systems. The article starts by describing the basic concepts of CBFs and how they can be used to build optimization problems embedding CBF-based constraints, whose solutions correspond to the …