The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
Safety Barrier Certificates for Collisions-Free Multirobot Systems
Abstract
This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safety constraints. This is achieved by minimizing the difference between the actual and the nominal controllers subject to safety constraints. The resulting computation of the safety controllers is done through a quadratic programming problem that can be solved in real-time and in this paper, we describe a series of problems of increasing complexity. Starting with a centralized formulation, where the safety controller is computed across all agents simultaneously, we show how one can achieve a natural decentralization whereby individual robots only have to remain safe relative to nearby robots. Conservativeness and existence of solutions as well as deadlock-avoidance are then addressed using a mixture of relaxed control barrier functions, hybrid braking controllers, and consistent perturbations. The resulting control strategy is verified experimentally on a collection of wheeled mobile robots whose nominal controllers are explicitly designed to make the robots collide.
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Cites
Boyd, S., & Vandenberghe, L. (2004) · doi:10.1017/cbo9780511804441 · Cited by 56,601
Graph Theoretic Methods in Multiagent Networks
Mesbahi, M., & Egerstedt, M. (2010) · Princeton University Press eBooks · doi:10.1515/9781400835355 · Cited by 2,897 · cited 2×
“Thus, what is ultimately deployed on the system is a combination of a “formally” designed nominal controller together with a “hand-crafted” collision avoidance algorithm, as discussed in [4], [5], [7], with the basic idea being that the multirobot system executes the nominal, primary controller most of the time, while…”
MethodSelf-citationDistributed Consensus in Multi-vehicle Cooperative Control
Ren, W., & Beard, R. W. (2008) · Communications and Control Engineering · doi:10.1007/978-1-84800-015-5 · Cited by 2,826
Cited by
Input-to-State Safety With Control Barrier Functions
Kolathaya, S., & Ames, A. D. (2019) · IEEE Control Systems Letters · doi:10.1109/lcsys.2018.2853698 · Cited by 328
Self-citationNonsmooth Barrier Functions With Applications to Multi-Robot Systems
Glotfelter, P., Cortes, J., & Egerstedt, M. (2017) · IEEE Control Systems Letters · doi:10.1109/lcsys.2017.2710943 · Cited by 312
Self-citationSingletary, 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
Self-citationPersistent and Robust Execution of MAPF Schedules in Warehouses
Honig, W., Kiesel, S., Tinka, A., Durham, J. W., & Ayanian, N. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2894217 · Cited by 139
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
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Metadata
- Authors
- Wang, L., Ames, A. D., & Egerstedt, M.
- Venue
- IEEE Transactions on Robotics
- Published
- 2017-06
- Volume
- 33
- Issue
- 3
- Pages
- 661-674
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2588802774
- Cited by
- 795
- References
- 3
- FWCI
- 14.49
- Type
- journal article
- Language
- en
- Open access
- closed
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