Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
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arXiv
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| Format: | Preprint |
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2026
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| author | Sambhus, Ruturaj S. Zeng, Yicheng Mehta, Kapi Ketan Kim, Jeeseop Hamed, Kaveh Akbari |
| author_facet | Sambhus, Ruturaj S. Zeng, Yicheng Mehta, Kapi Ketan Kim, Jeeseop Hamed, Kaveh Akbari |
| contents | This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time nonlinear differential-algebraic system, capturing the coupled dynamics through holonomic constraints and interaction wrenches. To ensure safety in complex environments, we develop a control barrier function (CBF)-based NMPC formulation that enforces collision avoidance constraints for both the robots and the payload. The proposed approach retains the interaction wrenches as decision variables, resulting in a structured DAE-constrained optimal control problem that enables efficient real-time implementation. The effectiveness of the algorithm is validated through extensive hardware experiments on two Unitree Go2 platforms performing cooperative payload transportation in cluttered environments under mass and inertia uncertainty and external push disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_03200 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Sambhus, Ruturaj S. Zeng, Yicheng Mehta, Kapi Ketan Kim, Jeeseop Hamed, Kaveh Akbari Robotics Optimization and Control This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time nonlinear differential-algebraic system, capturing the coupled dynamics through holonomic constraints and interaction wrenches. To ensure safety in complex environments, we develop a control barrier function (CBF)-based NMPC formulation that enforces collision avoidance constraints for both the robots and the payload. The proposed approach retains the interaction wrenches as decision variables, resulting in a structured DAE-constrained optimal control problem that enables efficient real-time implementation. The effectiveness of the algorithm is validated through extensive hardware experiments on two Unitree Go2 platforms performing cooperative payload transportation in cluttered environments under mass and inertia uncertainty and external push disturbances. |
| title | Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2604.03200 |