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dc.contributor.advisorEgerstedt, Magnus
dc.contributor.authorWang, Li
dc.date.accessioned2018-05-31T18:14:15Z
dc.date.available2018-05-31T18:14:15Z
dc.date.created2018-05
dc.date.issued2018-04-03
dc.date.submittedMay 2018
dc.identifier.urihttp://hdl.handle.net/1853/59886
dc.description.abstractThe objective of this research is to develop a formal safety framework for collision-free and connectivity sustained motion in multi-robot coordination and learning based control. This safety framework is designed with barrier certificates, which provably guarantee the safety of dynamical systems based on the set invariance principle. The barrier certificates are enforced on the system using an online optimization-based controller such that minimal changes to the existing control strategies are required to guarantee safety. The proposed safety barrier certificates are validated on real multi-robot systems consisting of multiple Khepera robots, Magellan Pro robot, GRITS-Bots, and Crazyflie quadrotors.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technology
dc.subjectBarrier certificates
dc.subjectMulti-robot system
dc.subjectSwarm robotics
dc.subjectQuadrotor control
dc.subjectSafe learning
dc.subjectCollision avoidance
dc.subjectMulti-objective composition
dc.subjectSum-of-squares
dc.titleMulti-robot coordination and safe learning using barrier certificates
dc.typeDissertation
dc.description.degreePh.D.
dc.contributor.departmentElectrical and Computer Engineering
thesis.degree.levelDoctoral
dc.contributor.committeeMemberWardi, Yorai
dc.contributor.committeeMemberVela, Patricio
dc.contributor.committeeMemberTheodorou, Evangelos
dc.contributor.committeeMemberCoogan, Sam
dc.date.updated2018-05-31T18:14:15Z


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