Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment

Control Input Design for a Robot Swarm Maintaining Safety Distances in Crowded Environment

We consider an autonomous and decentralized mobile robotic swarm that does not require an advanced communication system; moreover, each robot must pass a narrow space preserving the distance with other robots. The control barrier function (CBF) method is useful for robotic swarms to guarantee collis...

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Bibliographic Details
Main Authors: Yuki Origane, Yuya Hattori, Daisuke Kurabayashi
Format: Article
Language:English
Published: MDPI AG 2021-03-01
Series:Symmetry
Subjects:
robotic swarm
collision avoidance
control barrier function
coupled oscillator system
obstacle region
Online Access:https://www.mdpi.com/2073-8994/13/3/478

Internet

https://www.mdpi.com/2073-8994/13/3/478

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