Safe Robot Trajectory Control Using Probabilistic Movement Primitives and Control Barrier Functions
In this paper, we present a novel means of control design for probabilistic movement primitives (ProMPs). Our proposed approach makes use of control barrier functions and control Lyapunov functions defined by a ProMP distribution. Thus, a robot may move along a trajectory within the distribution whi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-03-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.772228/full |