Layered Control for Cooperative Locomotion of Two Quadrupedal Robots:
Centralized and Distributed Approaches

Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

13 November 2022

Randall T. Fawcett

Vinay R. Kamidi

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Papers citing "Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches"

15 / 15 papers shown

Title
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots Lorenzo Amatucci João Sousa Pinto Giulio Turrisi Dominique Orban Victor Barasuol Claudio Semini 24 0 0 09 Jun 2025
LocoTouch: Learning Dexterous Quadrupedal Transport with Tactile Sensing Changyi Lin Yuxin Ray Song Boda Huo Mingyang Yu Yikai Wang ... Wenhao Yu Tingnan Zhang Jie Tan Yiyue Luo Ding Zhao 58 0 0 29 May 2025
Decentralized Navigation of a Cable-Towed Load using Quadrupedal Robot Team via MARL Wen-Tse Chen Minh Nguyen Zhongyu Li Guo Ning Sue Koushil Sreenath 65 0 0 23 Mar 2025
Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots Basit Muhammad Imran Jeeseop Kim Taizoon Chunawala Alexander Leonessa K. Hamed 76 0 0 18 Mar 2025
Compliant Control of Quadruped Robots for Assistive Load Carrying Nimesh Khandelwal Amritanshu Manu Shakti S. Gupta Mangal Kothari Prashanth Krishnamurthy Farshad Khorrami 82 0 0 13 Mar 2025
Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation M. Sombolestan Quan Nguyen 77 0 0 16 Nov 2024
Safety-critical Motion Planning for Collaborative Legged Loco-Manipulation over Discrete Terrain M. Sombolestan Quan Nguyen 97 0 0 14 Oct 2024
Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation Chuye Hong K. Huang Huaping Liu 87 2 0 09 Jul 2024
Learning Decentralized Multi-Biped Control for Payload Transport Bikram Pandit Ashutosh Gupta M. S. Gadde Addison Johnson Aayam Shrestha Helei Duan Jeremy Dao Alan Fern 99 4 0 25 Jun 2024
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control Giulio Turrisi Lucas Schulze V. S. Medeiros Claudio Semini Victor Barasuol 72 2 0 28 Mar 2024
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models Max H. Cohen Tamás G. Molnár Aaron D. Ames 116 35 0 14 Mar 2024
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions Jeeseop Kim Jaemin Lee Aaron D. Ames 76 4 0 14 Dec 2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions Jeeseop Kim Jaemin Lee Aaron D. Ames 97 13 0 23 Mar 2023
Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots Bingyi Xia Hao Luan Ziqi Zhao Xuheng Gao P. Xie Anxing Xiao Jiankun Wang Max Meng 100 7 0 12 Mar 2023
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion Randall T. Fawcett Leila Amanzadeh Jeeseop Kim Aaron D. Ames K. Hamed 68 16 0 13 Nov 2022