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.
Original language | English |
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Pages (from-to) | 10240-10247 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 9 |
Issue number | 11 |
DOIs | |
Publication status | Published - Nov 2024 |
Publication type | A1 Journal article-refereed |
Publication forum classification
- Publication forum level 2