Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
Jeeseop Kim,Jaemin Lee,Aaron D. Ames,Jeeseop Kim,Jaemin Lee,Aaron D. Ames
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe cooperation of the robots while maintaining a desired formation and avoiding obstacles. The top-level planner generates a set of feasible trajectories, accounting for...
