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

Weng，Bowen1; Chen，Hua2; Zhang，Wei2

10.1109/ICRA46639.2022.9811807

2022

1050-4729

978-1-7281-9682-4

Proceedings - IEEE International Conference on Robotics and Automation

4972-4978

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.

Navigation Heuristic algorithms Nonlinear dynamical systems Feedback control Multi-robot systems Vehicle dynamics Collision avoidance

Others

English

EI

20223312572947

Air navigation ; Industrial robots ; Lyapunov functions ; Lyapunov methods ; Robot learning

Air Navigation and Traffic Control:431.5 ; Robotics:731.5 ; Robot Applications:731.6 ; Mathematics:921 ; Systems Science:961

2-s2.0-85136337343

Scopus

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.