On the Convergence of Multi-robot Constrained Navigation: A Parametric Control Lyapunov Function Approach
23-27 May 2022
Philadelphia, PA, USA
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.
|EI Accession Number|
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
Cited Times [WOS]:0
|Document Type||Conference paper|
|Department||Department of Mechanical and Energy Engineering|
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
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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