Cooperative Path Following with Collision Avoidance Guarantees Using Control Lyapunov and Barrier Functions

• Type: Article in International Conference Proceedings Book
• Date: 2022

Authors

Reis, MF (Author) Other; Anand, P (Author) Other; Aguiar, AP (Author) FEUP

Conference proceedings International

Title: CONTROLO 2022

Pages: 181-193

15th APCA International Conference on Automatic Control and Soft Computing (CONTROLO)

Caparica, PORTUGAL, JUL 06-08, 2022

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 181 Citations

Other information

Authenticus ID: P-00X-02B

DOI: 10.1007/978-3-031-10047-5_16

Abstract (EN): In this paper, we address the problem of safety-critical, cooperative path following (CPF) control for a swarm of heterogeneous robotic vehicles following possibly intersecting paths. Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) are utilized on a Quadratic Program (QP) based controller to achieve the desired task, while also giving explicit collision avoidance guarantees. We propose a modified CLF-CBF based QP controller to overcome deadlock-like configurations by assigning specific priorities for each of the agents. Numerical simulation results for three agents shows the efficacy of the proposed methodology.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13