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This paper presents a safety-critical approach to the coordinated control ofcooperative robots locomoting in the presence of fixed (holonomic) constraints.To this end, we leverage control barrier functions (CBFs) to ensure the safecooperation of the robots while maintaining a desired formation and avoidingobstacles. The top-level planner generates a set of feasible trajectories,accounting for both kinematic constraints between the robots and physicalconstraints of the environment. This planner leverages CBFs to ensuresafety-critical coordination control, i.e., guarantee safety of thecollaborative robots during locomotion. The middle-level trajectory plannerincorporates interconnected single rigid body (SRB) dynamics to generateoptimal ground reaction forces (GRFs) to track the safety-ensured trajectoriesfrom the top-level planner while addressing the interconnection dynamicsbetween agents. Distributed low-level controllers generate whole-body motion tofollow the prescribed optimal GRFs while ensuring the friction cone conditionat each end of the stance legs. The effectiveness of the approach isdemonstrated through numerical simulations and experimentally on a pair ofquadrupedal robots.

Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions