Abstract: Control Barrier Functions (CBFs) have emerged as an effective and non-invasive safety filter for ensuring the safety of autonomous systems in dynamic environments with formal guarantees.

These functions prioritize performance at the expense of certain features. The serialized JSON output of these functions is identical to that of JSON.stringify() with the following exceptions: ...

The library is available in both the Arduino Library and PlatformIO Library registries. The library can also be cloned & included locally or included directly from GitHub (if your tooling supports it) ...