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This paper presents a safety-critical approach to the coordination of robotsin dynamic environments. To this end, we leverage control barrier functions(CBFs) with the forward reachable set to guarantee the safe coordination of therobots while preserving a desired trajectory via a layered controller. Thetop-level planner generates a safety-ensured trajectory for each agent,accounting for the dynamic constraints in the environment. This plannerleverages high-order CBFs based on the forward reachable set to ensuresafety-critical coordination control, i.e., guarantee the safe coordination ofthe robots during locomotion. The middle-level trajectory planner employssingle rigid body (SRB) dynamics to generate optimal ground reaction forces(GRFs) to track the safety-ensured trajectories from the top-level planner. Thewhole-body motions to adhere to the optimal GRFs while ensuring the frictioncone condition at the end of each stance leg are generated from the low-levelcontroller. The effectiveness of the approach is demonstrated throughsimulation and hardware experiments.

Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions