Safety-Critical Kinematic Control of Robotic Systems

@article{Singletary2020SafetyCriticalKC,
  title={Safety-Critical Kinematic Control of Robotic Systems},
  author={A. Singletary and Shishir Kolathaya and A. Ames},
  journal={IEEE Control Systems Letters},
  year={2020},
  volume={6},
  pages={139-144}
}
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending the methodology of control barrier functions (CBFs) to kinematic equations governing robotic systems. We demonstrate a purely kinematic implementation of a velocity-based CBF, and subsequently introduce a formulation that guarantees safety at the level of dynamics. This is… Expand

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