Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
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 constra...
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| Published in | IEEE control systems letters Vol. 1; no. 2; pp. 310 - 315 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.10.2017
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| Subjects | |
| Online Access | Get full text |
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| 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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| AbstractList | 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. |
| Author | Glotfelter, Paul Cortes, Jorge Egerstedt, Magnus |
| Author_xml | – sequence: 1 givenname: Paul surname: Glotfelter fullname: Glotfelter, Paul email: paul.glotfelter@gatech.edu organization: Georgia Inst. of Technol., Atlanta, GA, USA – sequence: 2 givenname: Jorge surname: Cortes fullname: Cortes, Jorge email: cortes@ucsd.edu organization: Dept. of Mech. & Aerosp. Eng., Univ. of California at San Diego, La Jolla, CA, USA – sequence: 3 givenname: Magnus surname: Egerstedt fullname: Egerstedt, Magnus email: magnus@gatech.edu organization: Georgia Inst. of Technol., Atlanta, GA, USA |
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| SubjectTerms | autonomous systems Collision avoidance Differential equations Lyapunov methods Multi-agent systems Robotics Robots Robustness |
| Title | Nonsmooth Barrier Functions With Applications to Multi-Robot Systems |
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