This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while preserving a desired trajectory via a layered controller. The top-level planner generates a safety-ensured trajectory for each agent, accounting for the dynamic constraints in the environment. This planner leverages high-order CBFs based on the forward reachable set to ensure safety-critical coordination control, i.e., guarantee the safe coordination of the robots during locomotion. The middle-level trajectory planner employs single rigid body (SRB) dynamics to generate optimal ground reaction forces (GRFs) to track the safety-ensured trajectories from the top-level planner. The whole-body motions to adhere to the optimal GRFs while ensuring the friction cone condition at the end of each stance leg are generated from the low-level controller. The effectiveness of the approach is demonstrated through simulation and hardware experiments.

翻译：本文提出了一种在动态环境中实现机器人安全关键协调的方法。为此，我们利用控制障碍函数和前向可达集，通过分层控制器在保证安全协调的同时维持期望轨迹。顶层规划器考虑环境的动态约束，为每个智能体生成安全保障轨迹。该规划器利用基于前向可达集的高阶控制障碍函数确保安全关键协调控制，即保证机器人在运动过程中的安全协调。中层轨迹规划器采用单刚体动力学生成最优地面反作用力，以跟踪来自顶层规划器的安全保障轨迹。底层控制器则生成全身运动，以在满足每个支撑腿末端摩擦锥条件的同时，遵循最优地面反作用力。通过仿真和硬件实验验证了该方法的有效性。