Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Tractable Compositions of Discrete-Time Control Barrier Functions with
  Application to Lane Keeping and Obstacle Avoidance   This paper introduces control barrier functions for discrete-time systems,
which can be shown to be necessary and sufficient for controlled invariance of
a given set. Moreover, we propose nonlinear discrete-time control barrier
functions for partially control affine systems that lead to controlled
invariance conditions that are affine in the control input, leading to a
tractable formulation that enables us to handle the safety optimal control
problem for a broader range of applications with more complicated safety
conditions than existing approaches. In addition, we develop mixed-integer
formulations for basic and secondary Boolean compositions of multiple control
barrier functions and further provide mixed-integer constraints for piecewise
control barrier functions. Finally, we apply these discrete-time control
barrier function tools to automotive safety problems of lane keeping and
obstacle avoidance, which are shown to be effective in simulation.

12
The categories of this paper are: nucl-th
18
The categories of this paper are: econ
6
The categories of this paper are: astro-ph
25
The categories of this paper are: patt-sol
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The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph
4
The categories of this paper are: cond-mat
28
The categories of this paper are: alg-geom
2
The categories of this paper are: math
23
The categories of this paper are: solv-int
34
The categories of this paper are: chem-ph
11
The categories of this paper are: hep-lat
26
The categories of this paper are: bayes-an
35
The categories of this paper are: mtrl-th
29
The categories of this paper are: funct-an
31
The categories of this paper are: ao-sci