中文版 | English
Title

On the Convergence of Multi-robot Constrained Navigation: A Parametric Control Lyapunov Function Approach

Author
DOI
Publication Years
2022
ISSN
1050-4729
ISBN
978-1-7281-9682-4
Source Title
Pages
4972-4978
Conference Date
23-27 May 2022
Conference Place
Philadelphia, PA, USA
Abstract
This paper studies the distributed multi-robot constrained navigation problem. While the multi-robot collision avoidance has been extensively studied in the literature with safety being the primary focus, the individual robot's destination convergence is not necessarily guaranteed. In particular, robots may get stuck in the local equilibria or periodic orbits of the multi-robot system, some of which are practically known as the deadlock and the livelock behaviors. Inspired by the combination of Control Lyapunov Function (CLF) and Control Barrier Function (CBF) for the nonlinear system's constrained stabilization, the authors present a guaranteed safe feedback control policy with improved convergence performance. The proposed Parametric CLF (PCLF) scheme adaptively determines the appropriate CLF parameterization within the in-stantaneous feasible action space. The algorithm also induces a conditional global asymptotic convergence guarantee for multi-robot system of single-integrator dynamics, and is empirically effective for nonlinear nonholonomic vehicle model. Empiri-cally, the proposed PCLF-CBF framework exhibits superior performance than state-of-the-art methods, including its de-generated counterpart of various CLF-CBF solutions.
Keywords
SUSTech Authorship
Others
Language
English
URL[Source Record]
Indexed By
EI Accession Number
20223312572947
EI Keywords
Air navigation ; Industrial robots ; Lyapunov functions ; Lyapunov methods ; Robot learning
ESI Classification Code
Air Navigation and Traffic Control:431.5 ; Robotics:731.5 ; Robot Applications:731.6 ; Mathematics:921 ; Systems Science:961
Scopus EID
2-s2.0-85136337343
Data Source
Scopus
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9811807
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/395615
DepartmentDepartment of Mechanical and Energy Engineering
Affiliation
1.Electrical and Computer Engineering,Ohio State University,Columbus,United States
2.Southern University of Science and Technology,Department of Mechanical and Energy Engineering,China
Recommended Citation
GB/T 7714
Weng,Bowen,Chen,Hua,Zhang,Wei. On the Convergence of Multi-robot Constrained Navigation: A Parametric Control Lyapunov Function Approach[C],2022:4972-4978.
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