Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.
Safe, task-consistent manipulation with operational space control barrier functions
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A CBF-based hierarchical quadratic programming framework enables flexible prioritization of safety and performance tasks for safe physical human-robot interaction, demonstrated on a real redundant robot.
citing papers explorer
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Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control
Augments MPC with a safety value function terminal constraint to achieve recursive feasibility and persistent safety while co-optimizing performance.
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Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
A CBF-based hierarchical quadratic programming framework enables flexible prioritization of safety and performance tasks for safe physical human-robot interaction, demonstrated on a real redundant robot.