Persistification of Robotic Tasks Using Control Barrier Functions
Persistification of Robotic Tasks Using Control Barrier Functions
复制标题
DOI：
10.1109/lra.2018.2789848
复制
发表时间：
2018-04-01
影响因子：
5.2
通讯作者：
Egerstedt, Magnus
中科院分区：
文献类型：
--
作者：
Notomista, Gennaro;Ruf, Sebastian F.;Egerstedt, Magnus
在这封信中，我们考虑了通过确保机器人的能量水平永远不会耗尽来呈现机器人任务持续性的问题，这意味着任务可以在很长一段时间内执行。这个过程被称为任务的持久化。特别是，每个机器人的状态随着电池电量的增加而增加，这样所需的持久行为就可以被编码为一个集合的前向不变性，这样机器人就不会耗尽电池。控制障碍函数用于综合控制器，以确保该集合是前向不变的，因此，机器人任务是持久的。作为一种应用，这封信考虑了机器人传感器覆盖任务的持久性，其中一组机器人必须覆盖感兴趣的区域。覆盖任务的成功持久化在模拟和移动机器人团队中展示。
In this letter, we consider the problem of rendering robotic tasks persistent by ensuring that the robots' energy levels are never depleted, which means that the tasks can be executed over long time horizons. This process is referred to as the persistification of the task. In particular, the state of each robot is augmented with its battery level so that the desired persistent behavior can be encoded as the forward invariance of a set such that the robots never deplete their batteries. Control barrier functions are employed to synthesize controllers that ensure that this set is forward invariant and, therefore, that the robotic task is persistent. As an application, this letter considers the persistification of a robotic sensor coverage task in which a group of robots has to cover an area of interest. The successful persistification of the coverage task is shown in simulation and on a team of mobile robots.