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most citedRough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot

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eess.SY2023

Control Barrier Function for Linearizable Systems with High Relative Degrees from Signal Temporal Logics: A Reference Governor Approach

Kaier Liang, Mingyu Cai, Cristian-Ioan Vasile

This paper considers the safety-critical navigation problem with Signal Temporal Logic (STL) tasks. We developed an explicit reference governor-guided control barrier function (ERG…