Safety Barrier Certificates for Heterogeneous Multi-Robot SystemsReport as inadecuate


Safety Barrier Certificates for Heterogeneous Multi-Robot Systems


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paper presents a formal framework forcollision avoidance in multi-robot systems, wherein an existingcontroller is modified in a minimally invasive fashion to ensuresafety. We build this framework through the use of controlbarrier functions CBFs which guarantee forward invarianceof a safe set; these yield safety barrier certificates in thecontext of heterogeneous robot dynamics subject to accelerationbounds. Moreover, safety barrier certificates are extended toa distributed control framework, wherein neighboring agentdynamics are unknown, through local parameter identification.The end result is an optimization-based controller that formallyguarantees collision free behavior in heterogeneous multi-agentsystems by minimally modifying the desired controller via safetybarrier constraints. This formal result is verified in simulationon a multi-robot system consisting of both -sluggish- and-agile- robots.



Advanced Mechanical Bipedal Experimental Robotics Lab AMBER Publications - Advanced Mechanical Bipedal Experimental Robotics Lab AMBER -



Author: Wang, Li - Ames, Aaron - Egerstedt, Magnus B. - -

Source: https://smartech.gatech.edu/







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