Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions, by Chengyang Peng, Victor Paredes, Guillermo A. Castillo, and Ayonga Hereid, was accepted to ICRA 2025.
The study uses linear discrete control barrier functions to combine obstacle avoidance with gait feasibility. It evaluates the approach in Digit simulation with randomly generated obstacles. ICRA 2025 took place in Atlanta, Georgia, from May 19 to 23, 2025.
Read the paper and citation or visit the proceedings record.