A Caltech Library Service

Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach

Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D. (2021) Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach. IEEE Control Systems Letters, 5 (1). pp. 127-132. ISSN 2475-1456. doi:10.1109/lcsys.2020.3000748.

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item:


This letter considers the problem of obstacle avoidance for multiple robotic agents moving in an environment with obstacles. A decentralized supervisory controller is synthesized based on control barrier functions (CBF) that guarantees obstacle avoidance with limited actuation capability. The proposed method is applicable to general nonlinear robot dynamics and is scalable to an arbitrary number of agents. Agent-to-agent communication is not required, yet a simple broadcasting scheme improves the performance of the algorithm. The key idea is based on a control barrier function constructed with a backup controller, and we show that by assuming other agents respecting the same CBF condition, the supervisory control algorithm can be implemented decentrally and guarantees obstacle avoidance for all agents.

Item Type:Article
Related URLs:
URLURL TypeDescription
Chen, Yuxiao0000-0001-5276-7156
Singletary, Andrew0000-0001-6635-4256
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. Manuscript received March 16, 2020; revised May 13, 2020; accepted June 1, 2020. Date of publication June 9, 2020; date of current version June 22, 2020. The work of Yuxiao Chen was supported by SRI/AFOSR under Award FA8750-19-C-0089. The work of Andrew Singletary was supported by DARPA under Award NNN12AA01C. The work of Aaron D. Ames was supported by NSF CPS under Award 1932091. Recommended by Senior Editor F. Dabbene.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA8750-19-C-0089
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Subject Keywords:Robotics; Decentralized control; Autonomous vehicles
Issue or Number:1
Record Number:CaltechAUTHORS:20200612-105359901
Persistent URL:
Official Citation:Y. Chen, A. Singletary and A. D. Ames, "Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach," in IEEE Control Systems Letters, vol. 5, no. 1, pp. 127-132, Jan. 2021, doi: 10.1109/LCSYS.2020.3000748
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:103867
Deposited By: Tony Diaz
Deposited On:12 Jun 2020 18:04
Last Modified:16 Nov 2021 18:26

Repository Staff Only: item control page