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. https://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 | |||||||||
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| 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. | |||||||||
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| DOI: | 10.1109/ACC.2016.7526486 | |||||||||
| Record Number: | CaltechAUTHORS:20190129-150935683 | |||||||||
| Persistent URL: | https://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: | 16 Nov 2021 03:51 |
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