A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.
Robust stabilization of periodic gaits for quadrupedal locomotion via QP- based virtual constraint controllers
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Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.