Control Barrier Certificates for Safe Swarm Behavior
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Abstract
Multi-agent robotics involves the coordination of large numbers of robots, which
leads to significant challenges in terms of collision avoidance. This paper generates provably
collision free swarm behaviours by constructing swarm safety control barrier certificates. The
safety barrier, implemented via an optimization-based controller, serves as a low level safety
controller formally ensuring the forward invariance of the safe operating set. In addition,
the proposed method naturally combines the goals of collision avoidance and interference
with the coordination laws in a uni ed and computationally efficient manner. The centralized
version of safety barrier certificate is designed on double integrator dynamic model, and then
a decentralized formulation is proposed as a less computationally intensive and more scalable
solution. The safety barrier certificate is validated in simulation and implemented experimentally
on multiple mobile robots; the proposed optimization-based controller successfully generates
collision free control commands with minimal overall impact on the coordination control laws.
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Date
2015-10
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Proceedings