Overview: An algorithm is a step-by-step set of instructions that takes an input and produces a clear output, just like a ...

Abstract: This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for nonlinear control-affine systems with ...

We built it on Claude Sonnet 3.5 in early 2025. We upgraded to 3.7 without incident, and to 4.0 without incident. By the time ...