Related papers: Distributed Resilience-Aware Control in Multi-Robo…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Decentralized control schemes are increasingly favored in various domains that involve multi-agent systems due to the need for computational efficiency as well as general applicability to large-scale systems. However, in the absence of an…
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging problem. In this paper, we design a distributed framework for safe multi-agent control in large-scale environments with obstacles, where a large…
We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
We consider the problem of designing distributed collision-avoidance multi-agent control in large-scale environments with potentially moving obstacles, where a large number of agents are required to maintain safety using only local…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…