A two-layer controller with adaptive nonlinear MPC and control barrier functions lets teams of quadruped robots safely push objects with unknown mass and friction through cluttered environments.
Proceedings of the IEEE Conference on Decision and Control 2015-February(February): 6271--6278
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Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation
A two-layer controller with adaptive nonlinear MPC and control barrier functions lets teams of quadruped robots safely push objects with unknown mass and friction through cluttered environments.