A framework using 3D Poisson Safety Functions creates a single CBF for full-body dynamic collision avoidance on manipulators, proven to guarantee safety from sampled points and validated on a 7-DOF arm.
Layered safety: Enhancing autonomous collision avoidance via multistage cbf safety filters
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Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
A framework using 3D Poisson Safety Functions creates a single CBF for full-body dynamic collision avoidance on manipulators, proven to guarantee safety from sampled points and validated on a 7-DOF arm.