In this work, we propose a distributed control scheme for multi-robot systems in the presence of multiple constraints using control barrier functions. The proposed scheme expands previous work where only one single constraint can be handled. Here we show how to transform multiple constraints to a collective one using a smoothly approximated minimum function. Additionally, human-in-the-loop control is also incorporated seamlessly to our control design, both through the nominal control in the optimization objective as well as a safety condition in the constraints. Possible failure regions are identified and a suitable fix is proposed. Two types of human-in- the-loop scenarios are tested on real multi-robot systems with multiple constraints, including collision avoidance, connectivity maintenance, and arena range limits. ; Part of ISBN 9798350323658 QC 20230920


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Distributed barrier function-enabled human-in-the-loop control for multi-robot systems


    Beteiligte:

    Erscheinungsdatum :

    2023-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Human Multi-Robot Physical Interaction: a Distributed Framework

    Lippi, Martina / Marino, Alessandro | BASE | 2021

    Freier Zugriff

    Distributed Coordination in Heterogeneous Multi-Robot Systems

    Iocchi, L. / Nardi, D. / Piaggio, M. et al. | British Library Online Contents | 2003


    Distributed Bearing-Only Formation Control for Heterogeneous Nonlinear Multi-Robot Systems

    Wu, Kefan / Hu, Junyan / Ding, Zhengtao et al. | BASE | 2023

    Freier Zugriff

    ROBOT-ENABLED CASE PICKING

    WEISS MITCHELL | Europäisches Patentamt | 2017

    Freier Zugriff