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Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots

Jaemin Lee, Jeeseop Kim, Aaron D. Ames. Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 2384-2391, IEEE, 2023. [doi]

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