Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based 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 coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while preserving a desired trajectory via a layered controller. The top-level planner generates a safety-ensured trajectory for each agent, accounting for the d...
