Show simple item record

dc.contributor.authorBorrmann, Urs
dc.contributor.authorWang, Li
dc.contributor.authorAmes, Aaron D.
dc.contributor.authorEgerstedt, Magnus B.
dc.date.accessioned2016-10-28T17:41:43Z
dc.date.available2016-10-28T17:41:43Z
dc.date.issued2015-10
dc.identifier.citationBorrmann, U., Wang, L., Ames, A., & Egerstedt, M. B. (2015). Control Barrier Certificates for Safe Swarm Behavior. IFAC Conference on Analysis and Design of Hybrid Systems, Atlanta, GA, Oct. 2015, pp. 68-73.en_US
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/1853/55985
dc.descriptionCopyright ©2015 IFACen_US
dc.descriptionDOI: 10.1016/j.ifacol.2015.11.154en_US
dc.description.abstractMulti-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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCollision avoidanceen_US
dc.subjectCoordination control lawsen_US
dc.subjectMobile robotsen_US
dc.subjectMulti-agent roboticsen_US
dc.subjectSafety barrieren_US
dc.subjectSwarm behavioursen_US
dc.titleControl Barrier Certificates for Safe Swarm Behavioren_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameTechnische Universität Münchenen_US
dc.contributor.corporatenameTexas A & M Universityen_US
dc.identifier.doi10.1016/j.ifacol.2015.11.154en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record