Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 33, Issue 3, Pages 661-674Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2659727
Keywords
Barrier certificates; collision avoidance; control barrier function; multirobot systems
Categories
Funding
- U.S. National Science Foundation [1544332, 1239055]
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1239037, 1724457, 1239055] Funding Source: National Science Foundation
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1239085, 1544332] Funding Source: National Science Foundation
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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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