Related papers: Deadlock Analysis and Resolution in Multi-Robot Sy…

The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…

Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for static obstacle…

This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…

The need for fully autonomous mobile robots has surged over the past decade, with the imperative of ensuring safe navigation in a dynamic setting emerging as a primary challenge impeding advancements in this domain. In this paper, a Safety…

Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-art methods leverage Control Barrier Functions (CBFs) to…

Control Barrier Functions (CBF) have provided a very versatile framework for the synthesis of safe control architectures for a wide class of nonlinear dynamical systems. Typically, CBF-based synthesis approaches apply to systems that…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

We study the problem of multi-robot mapless navigation in the popular Centralized Training and Decentralized Execution (CTDE) paradigm. This problem is challenging when each robot considers its path without explicitly sharing observations…

One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…

In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…

This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…

We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…

We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…

We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…