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This thesis presents a methodology for the development of control barrier functions (CBFs) through a backstepping inspired approach. Given a set defined as the superlevel set of a function, h, the main result is a constructive means for generating control barrier functions that guarantee forward invariance of this set. In particular, if the function defining the set has relative degree n, an iterative methodology utilizing higher order derivatives of h provably results in a control barrierdoi:10.1109/acc.2015.7172044 dblp:conf/amcc/HsuXA15 fatcat:j7invytkg5bdznwiel3dgnn5tm