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Extracting Exact Lie Derivatives Without Backpropagation: A Dual Compiler for Neural Control Barrier Functions

Kamaldar, Mohammadreza
arXiv (All) · Papers
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dynamical-systemsrings-and-algebrassystems-and-control
A safety filter based on a neural control barrier function (CBF) deployed in an embedded control loop evaluates, at each control cycle, the trained network and its Lie derivatives along the system vector fields, under the memory and worst-case execution time (WCET) constraints that safety-oriented c
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