Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
Jaemin Lee,Jeeseop Kim,Aaron D. Ames,Jaemin Lee,Jeeseop Kim,Aaron D. Ames
The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of conflicting safety conditions. In particular, Control Barrier Functions (CBFs) provide a means to encode safety as constraints in a Quadratic Program (QP), wherein ...
