1 citations · 1 across the 4 of their papers we have counts for
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Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…
Forward Invariance in Trajectory Spaces for Safety-critical Control
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny +1
Useful robot control algorithms should not only achieve performance objectives but also adhere to hard safety constraints. Control Barrier Functions (CBFs) have been developed to p…
Walk on Spheres for PDE-based Path Planning
Rafael I. Cabral Muchacho, Florian T. Pokorny
In this paper, we investigate the Walk on Spheres algorithm (WoS) for motion planning in robotics. WoS is a Monte Carlo method to solve the Dirichlet problem developed in the 50s b…
Adaptive Distance Functions via Kelvin Transformation
Rafael I. Cabral Muchacho, Florian T. Pokorny
The term safety in robotics is often understood as a synonym for avoidance. Although this perspective has led to progress in path planning and reactive control, a generalization of…