Adaptive High-Order Control Barrier Function-Based Iterative LQR for Real Time Safety-Critical Motion Planning.
Xiangyu KongWentao NingYuanqing XiaZhongqi SunHuahui XiePublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- high order
- motion planning
- safety critical
- real time
- robotic arm
- mechanical systems
- adaptive systems
- degrees of freedom
- higher order
- formal methods
- path planning
- fault tolerant
- optimal control
- embedded systems
- control system
- mobile robot
- humanoid robot
- agent architecture
- support systems
- multi robot
- pairwise
- climbing robot
- markov random field
- control method
- vision system
- intelligent agents
- computer vision