Dynamic Movement Primitives With Control Barrier Functions for Constrained Trajectory Planning - Vesentini, Federico; Meli, Daniele; Sansonetto, Nicola; Persio, Luca Di; Muradore, Riccardo (IEEE robotics and automation letters, 2025)
Keywords: Collision avoidance; const- rained motion planning; Control systems; Convergence; Imitation learning; nonholonomic motion planning; Planning; Robot kinematics; Safety; Shape; Trajectory; Trajectory planning; Vectors