Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed
Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed
复制标题
用于完全自主、远程访问的群体机器人测试台的强大屏障功能
DOI：
10.1109/cdc40024.2019.9029886
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
M. Egerstedt
中科院分区：
文献类型：
--
作者：
Y. Emam;Paul Glotfelter;M. Egerstedt
Robotarium是一个可远程访问的群集机器人测试平台，它为数百名用户提供了免费、开放的机器人和控制研究，进行了数千次实验。这种高水平的使用需要系统的自主性，这主要对应于用户提交的上下文中的约束满足。换句话说，在用户对机器人的输入可能导致碰撞的情况下，必须改变这些输入以自动避免这些碰撞。然而，这些改变必须是最小的，以保持用户在实验中的目标。为此，该系统利用了屏障功能，其允许微创的生物合成过程。然而，障碍函数尚未相对于未建模的干扰（例如，车轮打滑或分组丢失）。因此，本文为一般类受扰控制仿射系统制定了鲁棒障碍函数，这反过来又是机器人完全自主操作的关键（即，没有人的监督）。实验结果表明，这种强大的配方在机器人的长期实验的有效性。
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system, which mainly corresponds to constraint satisfaction in the context of users’ submissions. In other words, in case that the users’ inputs to the robots may lead to collisions, these inputs must be altered to avoid these collisions automatically. However, these alterations must be minimal so as to preserve the users’ objective in the experiment. Toward this end, the system has utilized barrier functions, which admit a minimally invasive controller-synthesis procedure. However, barrier functions are yet to be robustified with respect to unmodeled disturbances (e.g., wheel slip or packet loss) in a manner conducive to real-time synthesis. As such, this paper formulates robust barrier functions for a general class of disturbed control-affine systems that, in turn, is key for the Robotarium to operate fully autonomously (i.e., without human supervision). Experimental results showcase the effectiveness of this robust formulation in a long-term experiment in the Robotarium.
影响因子：
3
作者：
Glotfelter, Paul;Cortes, Jorge;Egerstedt, Magnus
通讯作者：
Egerstedt, Magnus