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It is critical to ensure safety for humanoid robots in real-world applications without compromising performance.
Control barrier function based quadratic programs with application to adaptive cruise control
Aaron D Ames, Jessy W Grizzle, and Paulo Tabuada · 2014
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Control in a safe set: Addressing safety in human-robot interactions
Changliu Liu and Masayoshi Tomizuka · 2014
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Control barrier function based quadratic programs for safety critical systems
Aaron D Ames, Xiangru Xu, Jessy W Grizzle, and Paulo Tabuada · 2016
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3d dynamic walking on stepping stones with control barrier functions
Quan Nguyen, Ayonga Hereid, Jessy W Grizzle, Aaron D Ames, and Koushil Sreenath · 2016
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Real-time collision avoidance algorithm on industrial manipulators
Hsien-Chung Lin, Changliu Liu, Yongxiang Fan, and Masayoshi Tomizuka · 2017
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Hybrid nonsmooth barrier functions with applications to provably safe and composable collision avoidance for robotic systems
Paul Glotfelter, Ian Buckley, and Magnus Egerstedt · 2019
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Safe control algorithms using energy functions: A unified framework, benchmark, and new directions
Tianhao Wei and Changliu Liu · 2019
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Control barrier functions for systems with high relative degree
Wei Xiao and Calin Belta · 2019
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Learning for safety-critical control with control barrier functions
Andrew Taylor, Andrew Singletary, Yisong Yue, and Aaron Ames · 2020
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Adaptive safety with control barrier functions
Andrew J Taylor and Aaron D Ames · 2020
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Safe and sample-efficient reinforcement learning for clustered dynamic environments
Hongyi Chen and Changliu Liu · 2021
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Robust control barrier–value functions for safety-critical control
Jason J Choi, Donggun Lee, Koushil Sreenath, Claire J Tomlin, and Sylvia L Herbert · 2021
Cited alongside, same era.
Model-free safety-critical control for robotic systems
Tamas G Molnar, Ryan K Cosner, Andrew W Singletary, Wyatt Ubellacker, and Aaron D Ames · 2021
Cited alongside, same era.
Model-free safe control for zero-violation reinforcement learning
Weiye Zhao, Tairan He, and Changliu Liu · 2021
Cited alongside, same era.
Safe nonlinear control using robust neural lyapunov-barrier functions
Charles Dawson, Zengyi Qin, Sicun Gao, and Chuchu Fan · 2022
Compositions of multiple control barrier functions under input constraints
Joseph Breeden and Dimitra Panagou · 2023
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Jason J Choi, Fernando Castaneda, Wonsuhk Jung, Bike Zhang, Claire J Tomlin, and Koushil Sreenath · 2023
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Robust task-space quadratic programming for kinematic-controlled robots
Mohamed Djeha, Pierre Gergondet, and Abderrahmane Kheddar · 2023
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Proactive human-robot co-assembly: Leveraging human intention prediction and robust safe control
Ruixuan Liu, Rui Chen, Abulikemu Abuduweili, and Changliu Liu · 2023
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High-order control barrier functions-based optimization control for time-varying nonlinear systems with full-state constraints: A dynamic sub-safe set approach
Haijing Wang, Jinzhu Peng, Juanjuan Xu, Fangfang Zhang, and Yaonan Wang · 2023
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Cited alongside, same era.
Humanoid self-collision avoidance using whole-body control with control barrier functions
Charles Khazoom, Daniel Gonzalez-Diaz, Yanran Ding, and Sangbae Kim · 2022
Cited alongside, same era.
Onboard safety guarantees for racing drones: High-speed geofencing with control barrier functions
Andrew Singletary, Aiden Swann, Yuxiao Chen, and Aaron D Ames · 2022
Cited alongside, same era.
Model free safe control for reinforcement learning in a clustered dynamic environment
Guiliang Zheng, Minhao Yang, and Yuxuan Wu · 2022
Cited alongside, same era.
Safety index synthesis with state-dependent control space
Rui Chen, Weiye Zhao, and Changliu Liu
Cited in the paper.
Real-time safety index adaptation for parameter-varying systems via determinant gradient ascend
Rui Chen, Weiye Zhao, Ruixuan Liu, Weiyang Zhang, and Changliu Liu
Cited in the paper.
Safe interactive industrial robots using jerk-based safe set algorithm
Ruixuan Liu, Rui Chen, and Changliu Liu
Cited in the paper.
Later among the works it cites.
Safety index synthesis via sum-of-squares programming
Weiye Zhao, Tairan He, Tianhao Wei, Simin Liu, and Changliu Liu · 2023
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Agile but safe: Learning collision-free high-speed legged locomotion
Tairan He, Chong Zhang, Wenli Xiao, Guanqi He, Changliu Liu, and Guanya Shi · 2024
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Multimodal safe control for human-robot interaction
Ravi Pandya, Tianhao Wei, and Changliu Liu · 2024
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Safe control of quadruped in varying dynamics via safety index adaptation
Kai S Yun, Rui Chen, Chase Dunaway, John M Dolan, and Changliu Liu · 2024
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