Abstract
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.
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