2102.08630
A Safety and Passivity Filter for Robot Teleoperation Systems
Gennaro Notomista, Xiaoyi Cai
incompletemedium confidence
- Category
- Not specified
- Journal tier
- Specialist/Solid
- Processed
- Sep 28, 2025, 12:56 AM
- arXiv Links
- Abstract ↗PDF ↗
Audit review
The paper’s main result (Proposition 2) is conceptually correct but omits explicit initial-condition requirements and regularity/feasibility assumptions crucial for invariance and passivity claims; the model’s solution states these missing hypotheses (initialization for recursive CBFs, membership in Su, feasibility of Kx∩Ku) and gives a clear, standard proof via ZCBF/I-CBF inequalities.
Referee report (LaTeX)
\textbf{Recommendation:} minor revisions
\textbf{Journal Tier:} specialist/solid
\textbf{Justification:}
The manuscript presents a sound and practically relevant integration of CBF and I-CBF constraints via a QP filter for teleoperation. The main proposition follows standard CBF logic and is correct in spirit, but the presentation should explicitly state initial-condition requirements for invariance (including ECBF initialization), discuss feasibility of the intersected constraints, and briefly address regularity/well-posedness of the QP-based closed loop. These clarifications would bring the theoretical statements in line with established practice and improve rigor.