Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios

v1v2 (latest)

Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios

21 May 2025

Patanjali Maithania

Aliasghar Araba

Farshad Khorramia

Prashanth Krishnamurthya

ArXiv (abs)PDF HTML

Papers citing "Proactive Hierarchical Control Barrier Function-Based Safety Prioritization in Close Human-Robot Interaction Scenarios"

9 / 9 papers shown

Title
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators Zhiquan Zhang Tianyu Li Nadia Figueroa 62 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
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance Bolun Dai Rooholla Khorrambakht M. Ciocarlie Farshad Khorrami 102 4 0 29 Sep 2023
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots Jaemin Lee Jeeseop Kim Aaron D. Ames 93 10 0 06 May 2023
Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions Bolun Dai Rooholla Khorrambakht Prashanth Krishnamurthy V. Gonccalves Anthony Tzes Farshad Khorrami 82 34 0 17 Apr 2023
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot Zhu Jian Zihong Yan Xuanang Lei Zih-Rong Lu Bin Lan Xueqian Wang Bin Liang 117 73 0 18 Sep 2022
Differentiable Collision Detection for a Set of Convex Primitives K. Tracy Taylor A. Howell Zachary Manchester 134 46 0 01 Jul 2022
Safety-Critical Manipulation for Collision-Free Food Preparation Andrew W. Singletary W. Guffey Tamás G. Molnár Ryan W. Sinnet Aaron D. Ames 78 51 0 02 May 2022
A Set-Theoretic Approach to Multi-Task Execution and Prioritization Gennaro Notomista Siddharth Mayya M. Selvaggio María Santos Cristian Secchi 68 17 0 06 Mar 2020