Name
Title | ||
|---|---|---|
Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach. |
Abstract | ||
|---|---|---|
This letter considers the problem of obstacle avoidance for multiple robotic agents moving in an environment with obstacles. A decentralized supervisory controller is synthesized based on control barrier functions (CBF) that guarantees obstacle avoidance with limited actuation capability. The proposed method is applicable to general nonlinear robot dynamics and is scalable to an arbitrary number o... |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/LCSYS.2020.3000748 | IEEE Control Systems Letters |
Keywords | DocType | Volume |
Collision avoidance,Robots,Trajectory,Jacobian matrices,Safety,Vehicle dynamics,Decentralized control | Journal | 5 |
Issue | ISSN | Citations |
1 | 2475-1456 | 1 |
PageRank | References | Authors |
0.38 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yuxiao Chen | 1 | 1 | 3.42 |
| Andrew Singletary | 2 | 1 | 0.72 |
| Aaron D. Ames | 3 | 1202 | 136.68 |