Constructive barrier feedback for collision avoidance in leader-follower formation control
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis.
Code (0)
등록된 구현이 없습니다.
Tasks
Collision AvoidanceSimilar Papers 제목 키워드 기반
Safe platooning control of connected and autonomous vehicles on curved multi-lane roads
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs in…
ARCAutonomous VehiclesCollision AvoidanceDistributed Adaptive Consensus with Obstacle and Collision Avoidance for Networks of Heterogeneous Multi-Agent Systems
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formati…
Collision AvoidanceDistributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconn…
Collision AvoidanceDistributed OptimizationNuisance-free Automatic Ground Collision Avoidance System Design: Merging Exponential-CBF and Adaptive Sliding Manifolds
The significance of the automatic ground collision avoidance system (Auto-GCAS) has been proven by considering the fatal crashes that have occurred over decades. Even though extensive efforts have been put forth to addre…
Collision AvoidanceModel Free Barrier Functions via Implicit Evading Maneuvers
This paper demonstrates that the safety override arising from the use of a barrier function can in some cases be needlessly restrictive. In particular, we examine the case of fixed-wing collision avoidance and show that …
Collision Avoidancemodel