# Continuous-Time Safe Planning and Control for Agile Quadrupeds

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/delqz6ky6xjrrzo3w8hhjzhpe
- Original: https://arxiv.org/abs/2610.35670

## Summary

The research proposes a real-time motion planning framework that retains the full SE(2) model of a quadruped robot along with its anisotropic, heading-coupled velocity constraints, and accepts the resulting nonconvexity. The method parameterizes trajectories as composite Bernstein polynomials, uses the convex hull property to prove that obstacle avoidance and input constraints hold throughout the entire planning horizon, and runs in closed loop at online replanning rates, sending body velocities to the motion controller.