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Safety barrier certificates for heterogeneous multi-robot systems

Wang, Li and Ames, Aaron and Egerstedt, Magnus (2016) Safety barrier certificates for heterogeneous multi-robot systems. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 5213-5218. ISBN 978-1-4673-8682-1. http://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683

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Abstract

This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier functions (CBFs) which guarantee forward invariance of a safe set; these yield safety barrier certificates in the context of heterogeneous robot dynamics subject to acceleration bounds. Moreover, safety barrier certificates are extended to a distributed control framework, wherein neighboring agent dynamics are unknown, through local parameter identification. The end result is an optimization-based controller that formally guarantees collision free behavior in heterogeneous multi-agent systems by minimally modifying the desired controller via safety barrier constraints. This formal result is verified in simulation on a multi-robot system consisting of both “sluggish” and “agile” robots.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2016.7526486DOIArticle
https://arxiv.org/abs/1609.00651arXivDiscussion Paper
ORCID:
AuthorORCID
Ames, Aaron0000-0003-0848-3177
Additional Information:© 2016 AACC. The work by the first and third authors was sponsored by Grant No. N0014-15-1-2115 from the U.S. Office for Naval Research, and the work of the second author is supported by NSF CPS-1239055.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N0014-15-1-2115
NSFCPS-1239055
Record Number:CaltechAUTHORS:20190129-150935683
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683
Official Citation:L. Wang, A. Ames and M. Egerstedt, "Safety barrier certificates for heterogeneous multi-robot systems," 2016 American Control Conference (ACC), Boston, MA, 2016, pp. 5213-5218. doi: 10.1109/ACC.2016.7526486
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92511
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:29 Jan 2019 23:17
Last Modified:29 Jan 2019 23:17

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