Model-Free Safety-Critical Control for Robotic Systems

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in configuration space. To maintain safety, we synthesize velocity based barrier function theory without relying -- potentially complicated high-fidelity dynamical model robot. Then, track with tracking controller. culminates model-free critical control. We prove theoretical guarantees proposed method. Finally, demonstrate that this approach application-agnostic. execute an obstacle avoidance task Segway simulation, as well Drone and Quadruped hardware experiments.