Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866909613558857728 |
|---|---|
| author | Hamandi, Mahmoud Khorrami, Farshad Tzes, Anthony |
| author_facet | Hamandi, Mahmoud Khorrami, Farshad Tzes, Anthony |
| contents | This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuously scan the environment and compute a safe trajectory to guide the sheep to their final destination. The proposed optimization-based controller guarantees that the sheep reside within a desired distance from the reference trajectory through the use of Control Barrier Functions (CBF). Additional CBF constraints are employed simultaneously to ensure inter-agent and obstacle collision avoidance. The efficacy of the proposed approach is rigorously tested in simulation, which demonstrates the successful herding of the robotic-sheep within complex and cluttered environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_15701 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions Hamandi, Mahmoud Khorrami, Farshad Tzes, Anthony Robotics Multiagent Systems This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuously scan the environment and compute a safe trajectory to guide the sheep to their final destination. The proposed optimization-based controller guarantees that the sheep reside within a desired distance from the reference trajectory through the use of Control Barrier Functions (CBF). Additional CBF constraints are employed simultaneously to ensure inter-agent and obstacle collision avoidance. The efficacy of the proposed approach is rigorously tested in simulation, which demonstrates the successful herding of the robotic-sheep within complex and cluttered environments. |
| title | Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2407.15701 |