Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots
Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots
复制标题
移动机器人团队中无碰撞连接维护的多目标组合
DOI：
10.1109/cdc.2016.7798663
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
["Li Wang
中科院分区：
文献类型：
--
作者：
["Li Wang
本文提出了一种组合障碍函数来系统地组合多个目标的移动的机器人团队。目标首先被编码为障碍函数，然后使用AND和OR逻辑运算符组合。这种方法的优点是组合障碍函数可以证明保证所有组合目标的同时满足。组合障碍函数的例子，确保避免碰撞和静态/动态图形连接的团队的移动的机器人。由此产生的复合材料的安全性和连通性屏障证书进行了验证实验上的一个团队的四个移动的机器人。
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical operators. The advantage of this approach is that compositional barrier functions can provably guarantee the simultaneous satisfaction of all composed objectives. The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots. The resulting composite safety and connectivity barrier certificates are verified experimentally on a team of four mobile robots.