Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames. Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. IEEE Robotics and Automation Letters, 5(1):56-63, 2020. [doi]
Abstract is missing.