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2011.00032
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Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
30 October 2020
R. Grandia
Andrew J. Taylor
Aaron D. Ames
Marco Hutter
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Papers citing
"Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control"
37 / 37 papers shown
Title
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Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
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RNBF: Real-Time RGB-D Based Neural Barrier Functions for Safe Robotic Navigation
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Yifan Xue
Haoming Li
Nadia Figueroa
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04 May 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain
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08 Mar 2025
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
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Mustafa Shaikh
Vatsalya Chaubey
Patrick Haggerty
Shumon Koga
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124
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02 Nov 2024
Enhancing Autonomous Navigation by Imaging Hidden Objects using Single-Photon LiDAR
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Nevindu Batagoda
Harry Zhang
Akshat Dave
Adithya Pediredla
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Ramesh Raskar
82
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04 Oct 2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long
Yinzhuang Yi
Zhirui Dai
Sylvia Herbert
Jorge Cortés
Nikolay Atanasov
314
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28 May 2024
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions
Shuo Liu
Yihui Mao
Calin A. Belta
96
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28 Mar 2024
Learning Performance-Oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation
Shaoru Chen
Mahyar Fazlyab
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11 Jan 2024
Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots
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142
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03 Jan 2024
Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3
Noriaki Takasugi
Masaya Kinoshita
Yasuhisa Kamikawa
Ryoichi Tsuzaki
Atsushi Sakamoto
Toshimitsu Kai
Yasunori Kawanami
59
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18 Oct 2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
Shafeef Omar
Lorenzo Amatucci
Victor Barasuol
Giulio Turrisi
Claudio Semini
99
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24 Jul 2023
Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
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J. Joe Payne
Aaron M. Johnson
101
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01 Apr 2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
Jeeseop Kim
Jaemin Lee
Aaron D. Ames
90
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23 Mar 2023
Modular Safety-Critical Control of Legged Robots
Berk Tosun
Evren Samur
40
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04 Mar 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
Qiayuan Liao
Zhongyu Li
A. Thirugnanam
Jun Zeng
Koushil Sreenath
106
19
0
29 Dec 2022
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
Cameron J. Lerch
Ethan Dong
Ian Abraham
85
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08 Nov 2022
Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
Xinghao Zhu
Wenzhao Lian
Bodi Yuan
C. Freeman
Masayoshi Tomizuka
55
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31 Oct 2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Shuo Liu
Jun Zeng
Koushil Sreenath
C. Belta
156
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Inverse-Dynamics MPC via Nullspace Resolution
Carlos Mastalli
S. Chhatoi
Thomas Corbéres
Steve Tonneau
S. Vijayakumar
64
36
0
12 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control
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Fabian Jenelten
Shao-hua Yang
Farbod Farshidian
Marco Hutter
97
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PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
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Ofir Nachum
Tingnan Zhang
S. Guadarrama
Jie Tan
Wenhao Yu
80
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27 Jul 2022
Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions
Charles Khazoom
Daniel Gonzalez Diaz
Yanran Ding
Sangbae Kim
109
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01 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Fabian Jenelten
R. Grandia
Farbod Farshidian
Marco Hutter
105
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28 Jun 2022
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles
Anil Alan
Andrew J. Taylor
C. He
Aaron D. Ames
G. Orosz
67
69
0
07 Jun 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Zhongyu Li
Jun Zeng
A. Thirugnanam
Koushil Sreenath
62
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0
11 May 2022
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Alexander L. Mitchell
W. Merkt
Mathieu Geisert
Siddhant Gangapurwala
Martin Engelcke
Oiwi Parker Jones
Ioannis Havoutis
Ingmar Posner
76
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02 May 2022
A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control
Qingfeng Yao
Jilong Wang
Shuyu Yang
Cong Wang
Linghan Meng
Qifeng Zhang
Donglin Wang
89
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0
02 Mar 2022
Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems
S. Katayama
T. Ohtsuka
44
2
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14 Dec 2021
Learning to Jump from Pixels
G. Margolis
Tao Chen
Kartik Paigwar
Xiang Fu
Donghyun Kim
Sangbae Kim
Pulkit Agrawal
111
84
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28 Oct 2021
Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments
James Hegarty
Zhaoyuan Gu
J. Warnke
Seth Hutchinson
Armin Alaghi
108
35
0
23 Oct 2021
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries
Ayush Agrawal
Shuxiao Chen
Akshara Rai
Koushil Sreenath
135
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0
02 Oct 2021
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Jun Zeng
Zhongyu Li
Koushil Sreenath
59
82
0
21 May 2021
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
Noel Csomay-Shanklin
Ryan K. Cosner
Min Dai
Andrew J. Taylor
Aaron D. Ames
74
24
0
04 May 2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Zhaoming Xie
Xingye Da
Buck Babich
Animesh Garg
M. van de Panne
89
67
0
20 Apr 2021
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng
Yukai Gong
J. Grizzle
Maani Ghaffari
80
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26 Mar 2021
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