Poisson safety functions are extended to time-varying, orientation-dependent domains and embedded in an MPC safety filter, demonstrated on a quadruped and a humanoid.
Control barrier functions: Theory and applications,
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Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC
Poisson safety functions are extended to time-varying, orientation-dependent domains and embedded in an MPC safety filter, demonstrated on a quadruped and a humanoid.