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

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4389666311](https://www.wikidata.org/wiki/openalex:W4389666311)  
**Source**: https://4ort.xyz/entity/safety-critical-coordination-for-cooperative-legged-locomotion-via-control-barrier-functions