結合マルチエージェント系のための協調的安全フォーメーション制御
Collaborative Safe Formation Control for Coupled Multi-Agent Systems
個々のエージェントのダイナミクスと近傍情報を用い、高次制御バリア関数に基づく分散アルゴリズムで群れのフォーメーションを安全に制御する手法を提案し、シミュレーションで検証した。
著者: Brooks A. Butler, Chi Ho Leung, Philip E. Paré
分類: math.OC, cs.MA, cs.RO, cs.SY, eess.SY, math.DS
原文アブストラクト
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously developed theory for distributed collaborative safety-critical control for networked dynamic systems, we propose a distributed algorithm for the formation control of robot swarms given individual agent dynamics, induced formation dynamics, and local neighborhood position and velocity information within a defined sensing radius for each agent. Individual safety guarantees for each agent are obtained using rounds of communication between neighbors to restrict unsafe control actions among cooperating agents through safety conditions derived from high-order control barrier functions. We provide conditions under which a swarm is guaranteed to achieve collective safety with respect to multiple obstacles using a modified collaborative safety algorithm. We demonstrate the performance of our distributed algorithm via simulation in a simplified physics-based environment.
