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No Undesirable Equilibria, No Collisions: Combining Modulation and Control Barrier Functions for Liveness and Safety in Dynamic Collision Avoidance
Control Barrier Function Quadratic Programs (CBF-QPs) provide formal safety guarantees for general control-affine systems and accommodate actuation constraints, but do not inherently guarantee liveness, i.e., sustained progress toward and convergence to a goal. They may admit undesirable equilibria
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