The DOI matches its Crossref record; 20 of the 20 references it cites were found in a registry or an index.
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
Abstract
As multi-agent systems become more wide-spread and versatile, the ability to satisfy multiple system-level constraints grows increasingly important. In applications ranging from automated cruise control to safety in robot swarms, barrier functions have emerged as a tool to provably meet such constraints by guaranteeing forward invariance of desirable sets. However, satisfying multiple constraints typically implies formulating multiple barrier functions, which would be ameliorated if the barrier functions could be composed together as Boolean logic formulas. The use of max and min operators, which yields nonsmooth functions, represents one path to accomplish Boolean compositions of barrier functions, and this letter extends previously established concepts for barrier functions to a class of nonsmooth barrier functions that operate on systems described by differential inclusions. We validate our results by deploying Boolean compositions of nonsmooth barrier functions onto a team of mobile robots.
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Cites
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Self-citationDifferential equations with discontinuous right-hand side
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Self-citation
Cited by
Control Barrier Functions for Signal Temporal Logic Tasks
Lindemann, L., & Dimarogonas, D. V. (2019) · IEEE Control Systems Letters · doi:10.1109/lcsys.2018.2853182 · Cited by 319
Singletary, A., Klingebiel, K., Bourne, J., Browning, A., Tokumaru, P., & Ames, A. (2021) · 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636670 · Cited by 182
Wabersich, K. P., Taylor, A. J., Choi, J. J., Sreenath, K., Tomlin, C. J., Ames, A. D., & Zeilinger, M. N. (2023) · IEEE Control Systems · doi:10.1109/mcs.2023.3291885 · Cited by 132
Safety-Critical Control With Input Delay in Dynamic Environment
Molnar, T. G., Kiss, A. K., Ames, A. D., & Orosz, G. (2023) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3227451 · Cited by 83
Cohen, M. H., Belta, C., & Tron, R. (2022) · 2022 IEEE 61st Conference on Decision and Control (CDC) · doi:10.1109/cdc51059.2022.9992667 · Cited by 29
Metadata
- Authors
- Glotfelter, P., Cortes, J., & Egerstedt, M.
- Venue
- IEEE Control Systems Letters
- Published
- 2017-10
- Volume
- 1
- Issue
- 2
- Pages
- 310-315
- ISSN
- 2475-1456 (ISSN-L)
- OpenAlex
- W2620840602
- Cited by
- 312
- References
- 20
- FWCI
- 10.17
- Type
- journal article
- Language
- en
- Open access
- closed
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