Formally Correct Composition of Coordinated Behaviors Using Control Barrier Certificates
Formally Correct Composition of Coordinated Behaviors Using Control Barrier Certificates
复制标题
使用控制障碍证书形式正确地组合协调行为
DOI：
10.1109/iros.2018.8594302
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
M. Egerstedt
中科院分区：
文献类型：
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作者：
Anqi Li;Li Wang;Pietro Pierpaoli;M. Egerstedt
在多机器人系统中，虽然行为的思想允许低级别任务的有效解决方案，但高级任务很少能通过执行单个行为来实现。与此相反，行为序列将提供必要的表现力，但没有先验保证序列是可组合的，在这个意义上，机器人可以实际执行它。为了保证行为的可证明正确的组合，有限-本文引入了时间收敛控制障碍函数，以保证一个行为的终端配置是一个有效的初始配置，跟随一名义上的控制输入规定的行为进行修改，在一个最小的侵入性的方式，以建立信息交换网络所需的以下行为。在一个移动的机器人团队上验证了该组合策略的有效性。
In multi-robot systems, although the idea of behaviors allows for an efficient solution to low-level tasks, high-level missions can rarely be achieved by the execution of a single behavior. In contrast to this, a sequence of behaviors would provide the requisite expressiveness, but there are no a priori guarantees that the sequence is composable in the sense that the robots can actually execute it. In order to guarantee a provably correct composition of behaviors, Finite-Time Convergence Control Barrier Functions are introduced in this paper to guarantee the terminal configuration of one behavior is a valid initial configuration for the following one. Nominal control inputs prescribed by the behaviors are modified in a minimally invasive fashion, in order to establish the information-exchange network required by the following behavior. The effectiveness of the proposed composition strategy is validated on a team of mobile robots.