ChengAo Jiang

An Intention-Aware Robust Safety Framework for Robot Teleoperation: Unifying Object Interaction and Obstacle Avoidance

Control barrier functions (CBFs) have proven to be effective for obstacle avoidance in robot teleoperation systems. However, for classical CBF, model uncertainties and external disturbances can significantly degrade the robustness of safety control. Moreover, the fixed safety boundary lacks adaptabi…