{"id":"https://openalex.org/W4415524403","doi":"https://doi.org/10.1109/humanoids65713.2025.11203169","title":"Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC","display_name":"Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524403","doi":"https://doi.org/10.1109/humanoids65713.2025.11203169"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003148757","display_name":"Ryan M. Bena","orcid":"https://orcid.org/0000-0003-2088-5769"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan M. Bena","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004130490","display_name":"Gilbert Bahati","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gilbert Bahati","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107857695","display_name":"Bo Werner","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Blake Werner","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034165188","display_name":"Ryan K. Cosner","orcid":"https://orcid.org/0000-0002-4035-1425"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan K. Cosner","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041139710","display_name":"Lizhi Yang","orcid":"https://orcid.org/0000-0002-6101-7610"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lizhi Yang","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26807687,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.972599983215332,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9532999992370605,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7246000170707703},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6658999919891357},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5325000286102295},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.48420000076293945},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.43299999833106995},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4203999936580658},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40209999680519104},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.3788999915122986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37450000643730164}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7246000170707703},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6658999919891357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626999735832214},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5325000286102295},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.48420000076293945},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.43299999833106995},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4203999936580658},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40389999747276306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40209999680519104},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3788999915122986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.36660000681877136},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.3515999913215637},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3474999964237213},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3156000077724457},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.303600013256073},{"id":"https://openalex.org/C100906024","wikidata":"https://www.wikidata.org/wiki/Q205692","display_name":"Poisson distribution","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2667999863624573},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.25780001282691956},{"id":"https://openalex.org/C169214877","wikidata":"https://www.wikidata.org/wiki/Q981016","display_name":"Dirichlet distribution","level":3,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203169","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1499219562","https://openalex.org/W1755205674","https://openalex.org/W2032130830","https://openalex.org/W2060923592","https://openalex.org/W2489231587","https://openalex.org/W2560504659","https://openalex.org/W2607968634","https://openalex.org/W2735010720","https://openalex.org/W2749680651","https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W2986792518","https://openalex.org/W2989394062","https://openalex.org/W3094402048","https://openalex.org/W3094947075","https://openalex.org/W3135368396","https://openalex.org/W3145762295","https://openalex.org/W3166625432","https://openalex.org/W3186317065","https://openalex.org/W3195647294","https://openalex.org/W3200805077","https://openalex.org/W3207637958","https://openalex.org/W4206058163","https://openalex.org/W4230684562","https://openalex.org/W4294691909","https://openalex.org/W4315472240","https://openalex.org/W4367016688","https://openalex.org/W4378696928","https://openalex.org/W4389403307","https://openalex.org/W4392887407","https://openalex.org/W4402354114","https://openalex.org/W4407638338","https://openalex.org/W4414050556"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"through":[2],"unstructured":[3],"and":[4,142],"dynamically-changing":[5],"environments":[6],"is":[7],"a":[8,40,44,107,124],"complex":[9],"task":[10],"that":[11,127],"continues":[12],"to":[13,72,90,119],"present":[14],"many":[15],"challenges":[16],"for":[17,51,86,103,129],"modern":[18],"roboticists.":[19],"In":[20],"particular,":[21],"legged":[22],"robots":[23,144],"typically":[24],"possess":[25],"manipulable":[26],"asymmetric":[27],"geometries":[28],"which":[29],"must":[30],"be":[31],"considered":[32],"during":[33],"safetycritical":[34,147],"trajectory":[35,53],"planning.":[36],"This":[37],"work":[38],"proposes":[39],"predictive":[41,47,137,167],"safety":[42,57,70,88,138,156],"filter:":[43],"nonlinear":[45],"model":[46,166],"control":[48,61],"(MPC)":[49],"algorithm":[50],"online":[52],"generation":[54],"with":[55],"geometry-aware":[56],"constraints":[58,76],"based":[59],"on":[60,140],"barrier":[62],"functions":[63,71,89],"(CBFs).":[64],"Critically,":[65],"our":[66,135],"method":[67],"leverages":[68],"Poisson":[69,87,155],"numerically":[73],"synthesize":[74],"CBF":[75,164],"directly":[77],"from":[78],"perception":[79],"data.":[80],"We":[81],"extend":[82],"the":[83,95,99,121,152,161],"theoretical":[84],"framework":[85],"incorporate":[91],"temporal":[92],"changes":[93],"in":[94,145],"domain":[96,122],"by":[97],"reformulating":[98],"static":[100],"Dirichlet":[101],"problem":[102],"Poisson's":[104],"equation":[105],"as":[106,158,160],"parameterized":[108],"moving":[109],"boundary":[110],"value":[111],"problem.":[112],"Furthermore,":[113],"we":[114,133],"employ":[115],"Minkowski":[116],"set":[117],"operations":[118],"lift":[120],"into":[123],"configuration":[125],"space":[126],"accounts":[128],"robot":[130],"geometry.":[131],"Finally,":[132],"implement":[134],"real-time":[136],"filter":[139],"humanoid":[141],"quadruped":[143],"various":[146],"scenarios.":[148],"The":[149],"results":[150],"highlight":[151],"versatility":[153],"of":[154,163],"functions,":[157],"well":[159],"benefit":[162],"constrained":[165],"safety-critical":[168],"controllers.":[169]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-24T00:00:00"}