Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Nonsmooth barrier functions with applications
to multi-robot systems
P. Glotfelter, J. Cortés, M. Egerstedt
Proceedings of the IEEE Conference on Decision and
Control, Melbourne, Australia, 2017, pp. 5237-5242
Abstract
As multi-agent systems become ubiquitous, guaranteeing safety in these
systems 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 safety
constraints by guaranteeing forward invariance of a
set. However, a single barrier function can rarely
satisfy all safety aspects of a system, so there
remains a need to address the degree to which
multiple barrier functions may be composed through
Boolean logic. Utilizing max and min operators
represents one such method to accomplish Boolean
composition for barrier functions. As such, the main
contribution of this work extends previously
established concepts for barrier functions to a
class of nonsmooth barrier functions that operate on
systems described by differential inclusions. To
validate these results, a Boolean compositional
barrier function is deployed onto a team of mobile
robots.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo