Control-Barrier for Multi-robot systems

Implemented Control Barrier Function (CBFs) layer for easy safe testing of different types of swarm/multi-agent algorithms using the motion capture.

We implement control barrier as a central controller which encodes local collision avoidance between each pair of robots deployed in the multi-robot system.

To guarantees collision avoidance between all the robots, we modify the control input using a Quadratic Program if and only if we sense the robots are closer than the distance we specify.

Link Repo: https://github.com/FocasLab/Control_Barrier_MoCap.git

Demo Video :

References

1) Sean Wilson, et al., “The Robotarium: Globally Impactful Opportunities, Challenges, and Lessons Learned in Remote-Access, Distributed Control of Multirobot Systems,” in IEEE Control Systems Magazine, vol. 40, no. 1, pp. 26-44, Feb. 2020.
2) Daniel Pickem, et al., “The Robotarium: A remotely accessible swarm robotics research testbed” 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2017.
3) Matthias Rungger and Majid Zamani. 2016. SCOTS: A Tool for the Synthesis of Symbolic Controllers. In Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control (HSCC ‘16).