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.
Elsevier Science
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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.