Control Barrier Certificates for Safe Swarm BehaviorReportar como inadecuado


Control Barrier Certificates for Safe Swarm Behavior


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Multi-agent robotics involves the coordination of large numbers of robots, whichleads to significant challenges in terms of collision avoidance. This paper generates provablycollision free swarm behaviours by constructing swarm safety control barrier certificates. Thesafety barrier, implemented via an optimization-based controller, serves as a low level safetycontroller formally ensuring the forward invariance of the safe operating set. In addition,the proposed method naturally combines the goals of collision avoidance and interferencewith the coordination laws in a uni ed and computationally efficient manner. The centralizedversion of safety barrier certificate is designed on double integrator dynamic model, and thena decentralized formulation is proposed as a less computationally intensive and more scalablesolution. The safety barrier certificate is validated in simulation and implemented experimentallyon multiple mobile robots; the proposed optimization-based controller successfully generatescollision free control commands with minimal overall impact on the coordination control laws.



Georgia Robotics and InTelligent Systems Laboratory GRITS Publications - Georgia Robotics and InTelligent Systems Laboratory GRITS -



Autor: Borrmann, Urs - Wang, Li - Ames, Aaron D. - Egerstedt, Magnus B. - -

Fuente: https://smartech.gatech.edu/



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