Safety-Guaranteed Distributed Formation Control of Multi-Robot Systems Over Graphs With Rigid and Elastic Edges
Hoang Pham, Nadun Ranasinghe, Dong Le, Made Widhi Surya Atman, Azwirman Gusrialdi
Abstract
This letter considers the problem of formation control of multi-robot systems represented by a graph featuring both rigid and elastic edges, capturing specified range tolerance to the desired inter-robot distances. The objective is to navigate the robots safely through unknown environments with obstacles, utilizing onboard sensors like LiDAR while maintaining inter-robot distance constraints. To this end, a novel cooperative control algorithm is proposed, employing quadratic programming and leveraging control barrier functions to integrate multiple control objectives seamlessly. This approach ensures a unified strategy and provides a safety certificate. Experimental validation of the proposed cooperative control algorithm is conducted using a robotic testbed.
BibTeX
@inproceedings{ral2024_safetyguaranteed,
title = {Safety-Guaranteed Distributed Formation Control of Multi-Robot Systems Over Graphs With Rigid and Elastic Edges},
author = {Hoang Pham and Nadun Ranasinghe and Dong Le and Made Widhi Surya Atman and Azwirman Gusrialdi},
booktitle = {RA-L 2024},
year = {2024}
}