Published December 2016
| Submitted
Book Section - Chapter
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Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots
- Creators
- Wang, Li
-
Ames, Aaron D.
- Egerstedt, Magnus
Chicago
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Abstract
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical operators. The advantage of this approach is that compositional barrier functions can provably guarantee the simultaneous satisfaction of all composed objectives. The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots. The resulting composite safety and connectivity barrier certificates are verified experimentally on a team of four mobile robots.
Additional Information
© 2016 IEEE. The work by the first and third authors was sponsored by Grant No. 1544332 from the U.S. National Science Foundation, and the work of the second author was sponsored by Grant No. 1239055 from the U.S. National Science Foundation.Attached Files
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Additional details
- Eprint ID
- 92609
- DOI
- 10.1109/CDC.2016.7798663
- Resolver ID
- CaltechAUTHORS:20190201-160902879
- NSF
- CNS-1544332
- NSF
- CNS-1239055
- Created
-
2019-02-04Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field