Optimization-based distributed safety control with applications to collision avoidance for mobile robotic networks. (17th January 2023)

• Record Type: Journal Article
• Authors: Ibuki, Tatsuya; Hirano, Taichi; Funada, Riku; Sampei, Mitsuji
• Is Part Of: Advanced robotics. Volume 37:Number 1/2(2023)
• Page Start: 87
• Page End: 98
• Publication Date: 2023-01-17
• Subjects: Multi-agent system -- distributed control -- safety control -- collision avoidance -- control barrier function; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2022.2119886
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : This paper presents a distributed input rectification methodology to guarantee the safety of a multi-agent system over its pre-given cooperative control task. We start with defining a multi-agent system as a control target, which consists of a group of agents with general control affine nonlinear dynamics and an interconnection topology between agents. The research objective, safety, is next defined via a set invariance property, where a safe set is formed by control barrier functions. Then, an optimization-based distributed safety control method is presented. In the proposed approach, each agent rectifies its control input by solving an individual optimization problem to achieve a pre-given cooperative control strategy as much as possible while satisfying constraints for the safety derived by investigating the control barrier functions. Here, the optimization problem is formulated in a distributed manner by dividing the safety constraint between agents. To show the utility of the present approach, collision avoidance problems of a mobile robotic network are investigated as case studies. GRAPHICAL ABSTRACT: UF0001