136 citations · 167 across the 14 of their papers we have counts for
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cs.RO2023
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to addr…
cs.RO2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverag…