Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Distributed safe navigation of multi-agent systems
using control barrier function-based optimal
controllers
P. Mestres, C. Nieto-Granda,
J. Cortés
IEEE Robotics and Automation Letters, submitted
Abstract
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 input for a state-dependent network
optimization problem that encodes team formation and
the navigation task. Our algorithmic solution is
valid for general nonlinear control dynamics and
optimization problems. The resulting controller is
distributed, satisfies the safety constraints at all
times, and is asymptotically optimal. We illustrate
its performance in a team of differential-drive
robots in a variety of complex environments, both in
simulation and in hardware.
pdf
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