Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC

Description

Autonomous navigation through unstructured and dynamically-changing environments is a complex task that continues to present many challenges for modern roboticists. In particular, legged robots typically possess manipulable asymmetric geometries which must be considered during safety-critical trajectory planning. This work proposes a predictive safety filter: a nonlinear model predictive control (MPC) algorithm for online trajectory generation with geometry-aware safety constraints based on cont

Source