Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Control-sharing Control Barrier Functions for Intersection Automation
  under Input Constraints   This contribution introduces a centralized input constrained optimal control
framework based on multiple control barrier functions (CBFs) to coordinate
connected and automated agents at intersections. For collision avoidance, we
propose a novel CBF which is safe by construction. The given control scheme
provides provable guarantees that collision avoidance CBFs and CBFs to
constrain the agents' velocity are jointly feasible (referred to as
control-sharing property) subject to input constraints. A simulation study
finally provides evidence that the proposed control scheme is safe.

37
The categories of this paper are: supr-con
22
The categories of this paper are: chao-dyn
13
The categories of this paper are: quant-ph
4
The categories of this paper are: cond-mat
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
28
The categories of this paper are: alg-geom
15
The categories of this paper are: nucl-ex
18
The categories of this paper are: econ
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The categories of this paper are: stat
14
The categories of this paper are: math-ph
6
The categories of this paper are: astro-ph
8
The categories of this paper are: hep-ex
27
The categories of this paper are: comp-gas
0
The categories of this paper are: hep-ph
9
The categories of this paper are: nlin