Collaborative Safety-Critical Formation Control with Obstacle Avoidance
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866917795415982080 |
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| author | Butler, Brooks A. Leung, Chi Ho Paré, Philip E. |
| author_facet | Butler, Brooks A. Leung, Chi Ho Paré, Philip E. |
| contents | This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend our previously developed collaborative safety framework to an obstacle avoidance problem for agents with acceleration control inputs. We then incorporate multi-obstacle collision avoidance into the collaborative safety framework. This framework includes a method for computing the maximum capability of agents to satisfy their individual safety requirements. We analyze the convergence rate of our collaborative safety algorithm, and prove the linear-time convergence of cooperating agents to a jointly feasible safe action for all agents under the special case of a tree-structured communication network with a single obstacle for each agent. We illustrate the analytical results via simulation on a mass-spring kinematics-based formation controller and demonstrate the finite-time convergence of the collaborative safety algorithm in the simple proven case, the more general case of a fully-connected system with multiple static obstacles, and with dynamic obstacles. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_03885 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Collaborative Safety-Critical Formation Control with Obstacle Avoidance Butler, Brooks A. Leung, Chi Ho Paré, Philip E. Robotics Systems and Control Optimization and Control This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend our previously developed collaborative safety framework to an obstacle avoidance problem for agents with acceleration control inputs. We then incorporate multi-obstacle collision avoidance into the collaborative safety framework. This framework includes a method for computing the maximum capability of agents to satisfy their individual safety requirements. We analyze the convergence rate of our collaborative safety algorithm, and prove the linear-time convergence of cooperating agents to a jointly feasible safe action for all agents under the special case of a tree-structured communication network with a single obstacle for each agent. We illustrate the analytical results via simulation on a mass-spring kinematics-based formation controller and demonstrate the finite-time convergence of the collaborative safety algorithm in the simple proven case, the more general case of a fully-connected system with multiple static obstacles, and with dynamic obstacles. |
| title | Collaborative Safety-Critical Formation Control with Obstacle Avoidance |
| topic | Robotics Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2410.03885 |