Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots

6 May 2023

Papers citing "Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots"

9 / 9 papers shown

Title
Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios Patanjali Maithania Aliasghar Araba Farshad Khorramia Prashanth Krishnamurthya 62 0 0 21 May 2025
Constraint Selection in Optimization-Based Controllers Haejoon Lee Panagiotis Rousseas Dimitra Panagou 104 0 0 06 May 2025
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination Jaemin Lee Min Dai Jeeseop Kim Aaron D. Ames 71 0 0 16 Sep 2024
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms Jaemin Lee Jeeseop Kim Aaron D. Ames 77 1 0 16 Apr 2024
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators Zhiquan Zhang Tianyu Li Nadia Figueroa 57 1 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
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints Jaemin Lee Jeeseop Kim Aaron D. Ames 93 6 0 12 Dec 2023
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments Jaemin Lee Jeeseop Kim Wyatt Ubellacker Tamás G. Molnár Aaron D. Ames 67 2 0 12 Dec 2023
Algorithms for Finding Compatible Constraints in Receding-Horizon Control of Dynamical Systems Hardik Parwana Ruiyang Wang Dimitra Panagou 22 1 0 18 May 2023