{"id":"https://openalex.org/W4412605577","doi":"https://doi.org/10.1109/lra.2025.3592073","title":"Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots","display_name":"Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots","publication_year":2025,"publication_date":"2025-07-23","ids":{"openalex":"https://openalex.org/W4412605577","doi":"https://doi.org/10.1109/lra.2025.3592073"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3592073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592073","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","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/A5048676393","display_name":"Basit Muhammad Imran","orcid":"https://orcid.org/0000-0002-0643-0648"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Basit Muhammad Imran","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0643-0648","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004930845","display_name":"Jeeseop Kim","orcid":"https://orcid.org/0000-0003-4028-2359"},"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":"Jeeseop Kim","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4028-2359","affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058241639","display_name":"Taizoon Chunawala","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taizoon Chunawala","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0009-0003-5729-322X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025620905","display_name":"Alexander Leonessa","orcid":"https://orcid.org/0000-0001-9317-2714"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Leonessa","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9317-2714","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066501467","display_name":"Kaveh Akbari Hamed","orcid":"https://orcid.org/0000-0001-9597-1691"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaveh Akbari Hamed","raw_affiliation_strings":["Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9597-1691","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16758333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"9","first_page":"9176","last_page":"9183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/quadrupedalism","display_name":"Quadrupedalism","score":0.7458751797676086},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6646355390548706},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6461504101753235},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5463436841964722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5149524807929993},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.440550833940506},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43579763174057007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.315971314907074},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27604302763938904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15032958984375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06581231951713562},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06413546204566956}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.7458751797676086},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6646355390548706},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6461504101753235},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5463436841964722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5149524807929993},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.440550833940506},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43579763174057007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.315971314907074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27604302763938904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15032958984375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06581231951713562},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06413546204566956},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3592073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592073","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8567666433","display_name":"NRI: FND: COLLAB: Hierarchical Safe, and Distributed Feedback Control of Multiagent Legged Robots for Cooperative Locomotion and Manipulation","funder_award_id":"1924617","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W2009317155","https://openalex.org/W2039836203","https://openalex.org/W2044197961","https://openalex.org/W2098126561","https://openalex.org/W2105576913","https://openalex.org/W2107457089","https://openalex.org/W2120481993","https://openalex.org/W2129224530","https://openalex.org/W2132175006","https://openalex.org/W2143729862","https://openalex.org/W2151182239","https://openalex.org/W2560504659","https://openalex.org/W2569839618","https://openalex.org/W2570283482","https://openalex.org/W2588802774","https://openalex.org/W2744412014","https://openalex.org/W2779458783","https://openalex.org/W2842089854","https://openalex.org/W2909331752","https://openalex.org/W2979966603","https://openalex.org/W3012148556","https://openalex.org/W3015470607","https://openalex.org/W3113616534","https://openalex.org/W3124944733","https://openalex.org/W3130162259","https://openalex.org/W3186317065","https://openalex.org/W3207637958","https://openalex.org/W4200025609","https://openalex.org/W4206270771","https://openalex.org/W4206270822","https://openalex.org/W4226195072","https://openalex.org/W4280606239","https://openalex.org/W4283756722","https://openalex.org/W4285222543","https://openalex.org/W4312405101","https://openalex.org/W4378696928","https://openalex.org/W4383108961","https://openalex.org/W4384828946","https://openalex.org/W4387546354","https://openalex.org/W4389609808","https://openalex.org/W4389665904","https://openalex.org/W4389666311","https://openalex.org/W4402350775","https://openalex.org/W4402950863","https://openalex.org/W4403094416"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W4286907027","https://openalex.org/W4286907026","https://openalex.org/W4243685516","https://openalex.org/W2005390545","https://openalex.org/W2564052189","https://openalex.org/W2565192552","https://openalex.org/W1184812463","https://openalex.org/W111098009","https://openalex.org/W4412578468"],"abstract_inverted_index":{"This":[0,117],"paper":[1,118],"presents":[2],"a":[3,132,209],"novel":[4],"hierarchical,":[5],"safety-critical":[6],"control":[7,18],"framework":[8],"that":[9,125,203],"integrates":[10],"distributed":[11,122],"nonlinear":[12,95,160],"model":[13],"predictive":[14],"controllers":[15,162],"(DNMPCs)":[16],"with":[17,176],"barrier":[19],"functions":[20],"(CBFs)":[21],"to":[22,39,178,191],"enable":[23],"cooperative":[24,141],"locomotion":[25,142],"of":[26,102],"multi-agent":[27],"quadrupedal":[28,112],"robots":[29,182,189],"in":[30,90],"complex":[31,49],"environments.":[32],"While":[33],"NMPC-based":[34],"methods":[35],"are":[36,156],"widely":[37],"used":[38],"enforce":[40],"safety":[41,60,77,129],"constraints":[42],"and":[43,94,145,183,196],"navigate":[44],"multi-robot":[45],"systems":[46],"(MRSs)":[47],"through":[48,172],"environments,":[50],"trajectory":[51,88],"optimization":[52],"frameworks":[53],"based":[54],"on":[55],"invariant":[56],"sets":[57],"offer":[58],"formal":[59,76],"guarantees":[61,130],"for":[62,86,107,139],"MRSs.":[63],"CBFs,":[64],"typically":[65],"implemented":[66],"via":[67],"quadratic":[68],"programs":[69],"(QPs)":[70],"at":[71,163,218],"the":[72,100,154,164,204,219],"planning":[73,89,137],"layer,":[74],"provide":[75],"guarantees.":[78],"However,":[79],"their":[80,84],"zero-control":[81],"horizon":[82],"limits":[83],"effectiveness":[85],"extended":[87],"inherently":[91],"unstable,":[92],"underactuated,":[93],"legged":[96],"robot":[97,113],"models.":[98],"Furthermore,":[99],"integration":[101],"CBFs":[103,217],"into":[104],"real-time":[105],"NMPC":[106,123],"sophisticated":[108],"MRSs,":[109],"such":[110],"as":[111],"teams,":[114],"remains":[115],"underexplored.":[116],"develops":[119],"computationally":[120],"efficient,":[121],"algorithms":[124],"incorporate":[126],"CBF-based":[127],"collision":[128],"within":[131],"consensus":[133],"protocol,":[134],"enabling":[135],"longer":[136],"horizons":[138],"safe":[140],"under":[143],"disturbances":[144],"rough":[146,194],"terrain":[147],"conditions.":[148],"The":[149,167],"optimal":[150],"trajectories":[151],"generated":[152],"by":[153],"DNMPCs":[155],"tracked":[157],"using":[158],"full-order,":[159],"whole-body":[161],"low":[165],"level.":[166],"proposed":[168,205],"approach":[169],"is":[170],"validated":[171],"extensive":[173],"numerical":[174],"simulations":[175],"up":[177],"four":[179],"Unitree":[180],"A1":[181,188],"hardware":[184],"experiments":[185],"involving":[186],"two":[187],"subjected":[190],"external":[192],"pushes,":[193],"terrain,":[195],"uncertain":[197],"obstacle":[198],"information.":[199],"Comparative":[200],"results":[201],"demonstrate":[202],"CBF-integrated":[206],"DNMPC":[207],"achieves":[208],"higher":[210],"success":[211],"rate":[212],"than":[213],"baseline":[214],"NMPCs":[215],"employing":[216],"high":[220],"or":[221],"low-level":[222],"layers.":[223]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}