Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories and control values in real-time. This paper presents a pragmatic approach that addresses these issues by adding a control filter on each autonomous vehicle that assumes worst-case behavior from other contacts, including crewed vessels. This distributed safety control filter is developed using control barrier function (CBF) theory and the application is clearly described to ensure explainability of these safety-critical methods. This work compares the worst-case CBF approach with a Collision Regulations (COLREGS) behavior-based approach in simulated encounters. Real-world experiments with three different uncrewed vessels and a human operated vessel were performed to confirm the approach is effective across a range of platforms and is robust to uncooperative behavior from human operators. Results show that combining both CBF methods and COLREGS behaviors achieves the best safety and efficiency.
Code (0)
등록된 구현이 없습니다.
Tasks
Collision AvoidanceSimilar Papers 제목 키워드 기반
Distributed Predictive Control Barrier Functions: Towards Scalable Safety Certification in Modular Multi-Agent Systems
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack…
Deep Equivariant Multi-Agent Control Barrier Functions
With multi-agent systems increasingly deployed autonomously at scale in complex environments, ensuring safety of the data-driven policies is critical. Control Barrier Functions have emerged as an effective tool for enfor…
Robot NavigationZero-shot GeneralizationDistributed Safe Navigation of Multi-Agent Systems using Control Barrier Function-Based Optimal Controllers
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constrai…
Collision AvoidancevalidControl Barrier Functionals: Safety-critical Control for Time Delay Systems
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to sys…
FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic en…