Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
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DOI：
10.1109/lcsys.2017.2710943
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发表时间：
2017-10-01
影响因子：
3
通讯作者：
Egerstedt, Magnus
中科院分区：
文献类型：
--
作者：
Glotfelter, Paul;Cortes, Jorge;Egerstedt, Magnus
随着多代理系统变得越来越广泛和通用，满足多个系统级约束的能力变得越来越重要。在从自动巡航控制到机器人群体安全性的应用程序中，通过保证所需集合的远期不变性，已出现障碍功能，以实现障碍功能。但是，满足多个约束通常意味着要制定多个屏障函数，如果可以将屏障函数作为布尔逻辑公式组合在一起，则可以改善。 Max和Min运算符的使用（产生非平滑函数）代表了完成屏障功能的布尔构成的一条途径，该字母将先前确定的障碍函数的概念扩展到一类非平滑障碍功能，这些功能在由差分包含物描述的系统上运行。我们通过将非平滑屏障功能的布尔构图部署到一个移动机器人团队中来验证我们的结果。
As multi-agent systems become more wide-spread and versatile, the ability to satisfy multiple system-level constraints 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 such constraints by guaranteeing forward invariance of desirable sets. However, satisfying multiple constraints typically implies formulating multiple barrier functions, which would be ameliorated if the barrier functions could be composed together as Boolean logic formulas. The use of max and min operators, which yields nonsmooth functions, represents one path to accomplish Boolean compositions of barrier functions, and this letter extends previously established concepts for barrier functions to a class of nonsmooth barrier functions that operate on systems described by differential inclusions. We validate our results by deploying Boolean compositions of nonsmooth barrier functions onto a team of mobile robots.