40 Computer Designing Safety-Critical Computer Systems T he ubiquitous computer is firmly established as the electronic component of choice for designing systems that control safety-critical applications. Such applications can be found everywhere: aircraft fly-by-wire controls, oil and chemical processing, hospital life-support systems, manufacturing robotics, and countless other commercial and...

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending methodology of control barrier functions (CBFs) equations governing We demonstrate purely implementation velocity-based CBF, subsequently introduce formulation that guarant...