Systems and Methods for Model-free Safety Control in Robotics Platforms

Abstract

Systems and methods for model-free safety control of robotic platforms in accordance with embodiments of the invention are illustrated. One embodiment includes a robot, including a set of one or more actuators, and at least one sensor. The robot further includes a controller including a set of one or more processors and a memory including a controller application, where the controller application configures the set of processors to control the robot by performing the steps of defining a safe set identifying positions where the robot is safe, determining a control barrier function (CBF) based on the safe set, computing a safe velocity based on the CBF and a current position of the robot such that the robot remains in the safe set, and instructing the robot to track to the safe velocity.

Dependencies are inferred from the claim text.