Research paper
Discrete barrier constraints for biped navigation
Discrete-time barrier formulations turn safety conditions into nonlinear or quadratically constrained optimization problems. The stated application is three-dimensional biped navigation with moving obstacles and time-varying constraints.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation
- Publisher
- Robotics: Science and Systems Foundation
- Authors
- Ayush Agrawal, Koushil Sreenath
- DOI
- 10.15607/rss.2017.xiii.073
- Proceedings publication date
- 2017-07-12
- Source language
- en
- Edition
- Robotics: Science and Systems XIII
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Discrete-time barrier formulations turn safety conditions into nonlinear or quadratically constrained optimization problems. The stated application is three-dimensional biped navigation with moving obstacles and time-varying constraints.
Use and review
Guarantees are conditional on the stated dynamics, sensing and constraint assumptions. Abstract/source screening does not validate a complete robot installation or an ISO13849 safety function.
Sources & editions
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation ↗
Robotics: Science and Systems Foundation · Robotics: Science and Systems XIII
Owning RSS2017 title/authors/DOI/abstract/BibTeX checked. No physical deployment established by abstract.