Related papers: Distributed Resilience-Aware Control in Multi-Robo…
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
This paper addresses the problem of fixed-time cooperative output regulation for linear multi-agent systems over directed graphs under denial-of-service attacks. A novel distributed resilient fixed-time controller is developed that…
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…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
This paper investigates the problem of resilient global practical fixed-time cooperative output regulation of uncertain nonlinear multi-agent systems subject to denial-of-service attacks. A novel distributed resilient adaptive fixed-time…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…
This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
With multi-agent systems increasingly deployed autonomously at scale in complex environments, ensuring safety of the data-driven policies is critical. Control Barrier Functions have emerged as an effective tool for enforcing safety…
This letter explores the implementation of a safe control law for systems of dynamically coupled cooperating agents. Under a CBF-based collaborative safety framework, we examine how the maximum safety capability for a given agent, which is…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…