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CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation

Jinze Liu, Minzhe Li, Jessy W. Grizzle, Jiunn-Kai Huang. CLF-CBF Constraints for Real-Time Avoidance of Multiple Obstacles in Bipedal Locomotion and Navigation. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 10497-10504, IEEE, 2023. [doi]

Authors

Jinze Liu

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Minzhe Li

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Jessy W. Grizzle

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Jiunn-Kai Huang

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