Tianqi Zhu

Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach

A flexible active safety motion (FASM) control approach is proposed for collision avoidance in robot manipulators. The key feature is the use of control barrier functions (CBFs) to design flexible CBF-guided safety criteria (CBFSC) with dynamically optimized decay rates, providing both flexibility a