Safety Barrier Certificates for Heterogeneous Multi-Robot Systems

Wang, Li; Ames, Aaron; Egerstedt, Magnus B.

Title:

Safety Barrier Certificates for Heterogeneous Multi-Robot Systems

dc.contributor.author	Wang, Li	en_US
dc.contributor.author	Ames, Aaron	en_US
dc.contributor.author	Egerstedt, Magnus B.	en_US
dc.contributor.corporatename	Georgia Institute of Technology. Institute for Robotics and Intelligent Machines	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering	en_US
dc.date.accessioned	2016-08-23T20:14:25Z
dc.date.available	2016-08-23T20:14:25Z
dc.date.issued	2016-07	en_US
dc.description	© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	DOI: 10.1109/ACC.2016.7526486	en_US
dc.description.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.	en_US
dc.identifier.citation	Wang, L., Ames, A., & Egerstedt, M. (2016). Safety Barrier Certificates for Heterogeneous Multi-robot Systems. American Control Conference (ACC), Boston, MA, 2016, pp. 5213-5218.	en_US
dc.identifier.doi	10.1109/ACC.2016.7526486	en_US
dc.identifier.uri	http://hdl.handle.net/1853/55700
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.subject	Agile robots	en_US
dc.subject	Collision avoidance	en_US
dc.subject	Control barrier functions	en_US
dc.subject	Heterogeneous multirobot systems	en_US
dc.subject	Safety barrier certificates	en_US
dc.title	Safety Barrier Certificates for Heterogeneous Multi-Robot Systems	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename	Advanced Mechanical Bipedal Experimental Robotics Lab
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