Boolean Composability of Constraints and Control Synthesis for Multi-Robot Systems via Nonsmooth Control Barrier Functions
Boolean Composability of Constraints and Control Synthesis for Multi-Robot Systems via Nonsmooth Control Barrier Functions
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DOI：
10.1109/ccta.2018.8511471
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发表时间：
2018-08
期刊：
影响因子：
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通讯作者：
Paul Glotfelter;J. Cortés;M. Egerstedt
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文献类型：
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作者：
Paul Glotfelter;J. Cortés;M. Egerstedt
从移动传感器网络到自主运输系统，已经提出了多智能体解决方案来完成各种任务。然而，这些系统通常需要满足多个约束，例如安全性或连接性维护，同时完成其主要目标。势垒函数代表了一种通过前向集合不变性来加强约束的方法，本工作通过显式寻址受控系统扩展了最近关于非光滑势垒函数布尔组合的结果，从而得到了非光滑控制势垒函数。所提出的结果允许一个不连续控制器，它特别适合于控制综合，并且本文为非光滑控制势垒函数的布尔组合开发了一个几乎主动的梯度，当它作为二次规划的约束时，产生了一个有效的控制器。为了验证这些理论发现，实验结果对一系列约束进行了编码，并实时合成了移动机器人领导-跟随团队的控制器。
From mobile sensor networks to autonomous transportation systems, multi-agent solutions have been proposed to accomplish a variety of tasks. However, these systems typically require satisfaction of multiple constraints, such as safety or connectivity maintenance, while completing their primary objectives. Barrier functions represent one method to enforce such constraints via forward set invariance, and this work extends recent results on Boolean composition of nonsmooth barrier functions by explicitly addressing controlled systems, resulting in nonsmooth control barrier functions. The presented results permit a discontinuous controller, which is particularly amenable to control synthesis, and this paper develops an almost-active gradient for Boolean compositions of nonsmooth control barrier functions, which, when included as a constraint to a quadratic program, yields a valid controller. To verify these theoretical findings, the experimental results encode a series of constraints and synthesize a controller for a leader-follow team of mobile robots in real time.