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Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots

Wang, Li and Ames, Aaron D. and Egerstedt, Magnus (2016) Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 2659-2664. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190201-160902879

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Abstract

Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical operators. The advantage of this approach is that compositional barrier functions can provably guarantee the simultaneous satisfaction of all composed objectives. The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots. The resulting composite safety and connectivity barrier certificates are verified experimentally on a team of four mobile robots.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2016.7798663DOIArticle
https://arxiv.org/abs/1608.06887arXivDiscussion Paper
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. The work by the first and third authors was sponsored by Grant No. 1544332 from the U.S. National Science Foundation, and the work of the second author was sponsored by Grant No. 1239055 from the U.S. National Science Foundation.
Funders:
Funding AgencyGrant Number
NSFCNS-1544332
NSFCNS-1239055
Record Number:CaltechAUTHORS:20190201-160902879
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190201-160902879
Official Citation:L. Wang, A. D. Ames and M. Egerstedt, "Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 2659-2664. doi: 10.1109/CDC.2016.7798663
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92609
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:04 Feb 2019 15:47
Last Modified:03 Oct 2019 20:46

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