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Safety barrier certificates for heterogeneous multi-robot systems
2016
2016 American Control Conference (ACC)
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This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. ...
We build this framework through the use of control barrier functions (CBFs) which guarantee forward invariance of a safe set; these yield safety barrier certificates in the context of heterogeneous robot ...
SIMULATION RESULTS A multi-robot system with six heterogeneous agents is simulated with MATLAB. ...
doi:10.1109/acc.2016.7526486
dblp:conf/amcc/WangAE16
fatcat:qx5zfs4ebjbavfl6ezzbqnnfom
Responsibility-associated Multi-agent Collision Avoidance with Social Preferences
[article]
2022
arXiv
pre-print
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individual agents, and multi-agent collision avoidance is achieved with formally provable safety guarantees. ...
By incorporating such relative social implications through proposed Local Pairwise Responsibility Weights, we develop a Responsibility-associated Control Barrier Function-based safe control framework for ...
In multi-robot collision avoidance, the safety barrier certificates define an admissible safety region around individual robot's controller from which the resulting multi-robot behaviors are collision-free ...
arXiv:2206.09030v1
fatcat:eaodgwvxcbb4fenss5reuxmstq
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions
[article]
2019
arXiv
pre-print
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A multi-agent partially observable Markov decision process (MPOMDP) is a modeling paradigm used for high-level planning of heterogeneous autonomous agents subject to uncertainty and partial observation ...
We illustrate the efficiency of the proposed methodology based on DTBFs using a high-fidelity simulation of heterogeneous robots. ...
The interest in hybrid systems in the 2000's led to the introduction of barrier certificates for safety verification [33] . ...
arXiv:1903.07823v2
fatcat:yf5evbbzfvhrfkmrmu6lmfcrbe
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions
2019
2019 IEEE 58th Conference on Decision and Control (CDC)
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A multi-agent partially observable Markov decision process (MPOMDP) is a modeling paradigm used for high-level planning of heterogeneous autonomous agents subject to uncertainty and partial observation ...
We illustrate the efficiency of the proposed methodology based on DTBFs using a high-fidelity simulation of heterogeneous robots. ...
The interest in hybrid systems in the 2000's led to the introduction of barrier certificates for safety verification [31] . ...
doi:10.1109/cdc40024.2019.9030241
dblp:conf/cdc/AhmadiSBA19
fatcat:j2bptoefdjaq5mxidjj55mtxu4
Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions
[article]
2022
arXiv
pre-print
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With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot ...
behaviors among heterogeneous robots. ...
Nikolay Atanasov for the stimulating discussion which brings great inspiration. ...
arXiv:2202.09936v1
fatcat:k2r3opfqqjfezc4kcmnpvnfsua
Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems
[article]
2020
arXiv
pre-print
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With the employed safety and connectivity barrier certificates for the activated connectivity constraints and collision avoidance, the behavior mixing controllers are thus minimally modified from the original ...
In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call behavior mixing. ...
[25] proposed the safety barrier certificates B s (x) using control barrier functions h s i,j (·) that map the constrained safety set (2) of x to the admissible joint control space u ∈ R 2N for ensuring ...
arXiv:1910.01693v2
fatcat:5oebx6xvzfdapivo5hgty7p6hq
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods
[article]
2022
arXiv
pre-print
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safety and stability of the learned control system. ...
Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics, but this performance comes at the cost of reduced transparency and lack ...
We anticipate that these questions will be the basis for exciting future research at the intersection of RL and certificate learning. 2) Heterogeneous multi-agent certificates: With an eye towards deploying ...
arXiv:2202.11762v2
fatcat:62qhnvncnrevndrrzkkpjr2vcu
Distributed Safe Control Design and Safety Verification for Multi-Agent Systems
[article]
2024
arXiv
pre-print
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We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. ...
The algorithm quantifies safety for a multi-agent system probabilistically, using a certain locally Lipschitz continuous feedback controller by means of CBFs. ...
Note here that the system is heterogeneous as different robots have different mobility. ...
arXiv:2303.12610v2
fatcat:ytntcrgcirgyjn3a5e5p7nurou
Decentralized Risk-Aware Tracking of Multiple Targets
[article]
2022
arXiv
pre-print
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In our previous work, a centralized controller is developed to plan motions for all the robots -- however, this is not a scalable approach. ...
Here, we present a decentralized and risk-aware multi-target tracking framework, in which each robot plans its motion trading off tracking accuracy maximization and aversion to risk, while only relying ...
To incorporate risk-awareness into a multi-robot system, [15] uses safety barrier certificates to ensure safety. ...
arXiv:2208.02772v2
fatcat:njlb67ttvrd53ck7fzgmow3fse
Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms
[article]
2021
arXiv
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To address safety and resilience challenges we propose a Symbiotic System Of Systems Approach (SSOSA), reflecting the lifecycle learning and co-evolution with knowledge sharing for mutual gain of robotic ...
Barriers to Beyond Visual Line of Sight (BVLOS) robotics include operational safety compliance and resilience, inhibiting the commercialization of autonomous services offshore. ...
ACKNOWLEDGEMENTS This research was funded by the Offshore Robotics for the Certification of Assets (ORCA) Hub [EP/R026173/1], EPSRC Holistic Operation and Maintenance for Energy (HOME) from Offshore Wind ...
arXiv:2101.09491v3
fatcat:wndjigo2gfaavksx5hxihfvjsm
Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms
2021
IEEE Access
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ACKNOWLEDGEMENTS This research was funded by the Offshore Robotics for the Certification of Assets (ORCA) Hub [EP/R026173/1], EPSRC Holistic Operation and Maintenance for Energy (HOME) from Offshore Wind ...
We define our SSOSA, to address the following barriers imposed by limitations in C 3 , these are: functional, operational, safety and planning requirements, which ensure mission resilience and self-certification ...
These capabilities will be demonstrated using a single robotic platform to highlight the safety and trust created via the self-certification in our system of systems methodology but is also transferrable ...
doi:10.1109/access.2021.3117727
fatcat:oqabgsb7wrbkjbntkzvftxyd4q
5G for the Factory of the Future: Wireless Communication in an Industrial Environment
[article]
2019
arXiv
pre-print
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A demonstrator of a production line was used as an test environment for 5G in a real-world industrial application. A wide variety of heterogeneous sensor systems is used by a mobile robot platform. ...
The dynamic production flow approach is discussed centered around the robot which is used for transportation and inspection of products. ...
For safety certifications, this is of greatest importance as well as the potential risks of a missing package. Aspect 2 considers a different scenario. ...
arXiv:1904.01476v1
fatcat:qzfthppjpnbd7jkv26l4un4eca
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
[article]
2020
arXiv
pre-print
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A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. ...
Specifically, when the inter-agent communication depends on inter-robot distances, these constraints translate into particular configurations that must be reached in finite time in order for the system ...
Recently, compositional strategies inspired from formal methods have been used for the development of control strategies for multi-robot systems [25] - [28] . ...
arXiv:1907.07718v2
fatcat:qjv34kmf5rbn5f5nfsdjrtm7ra
Towards Scalable Continuous-Time Trajectory Optimization for Multi-Robot Navigation
[article]
2019
arXiv
pre-print
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Scalable multi-robot transition is essential for ubiquitous adoption of robots. ...
Early results indicate that the proposed algorithm is efficient for upto forty homogeneous robots and twenty one heterogeneous robots occupying 20\% of the available space. ...
The authors are with Autonomous Systems Lab, SRM Institute of Science and Technology, India This work was funded by SRM Institute of Science and Technology, India ...
arXiv:1910.13463v1
fatcat:k3ntqjtvyvcm3ccm2iuwwxxdbu
Software Engineering for Robotics: Future Research Directions; Report from the 2023 Workshop on Software Engineering for Robotics
[article]
2024
arXiv
pre-print
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workshop on the subject of Software Engineering for Robotics, held in Detroit, Michigan in October 2023. ...
These capabilities are ill-suited to handling the challenges unique to robotics software such as dealing with a wide diversity of domains, heterogeneous hardware, programmed and learned components, complex ...
Multi-Dimensional Quality Assurance for Robots Context. Ensuring safety, security, and overall correctness for such robotic systems is essential for their adoption. ...
arXiv:2401.12317v1
fatcat:otica7v6jza5nliokznvsboy4i
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