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Title: Barrier Certificates for Coordinated Teams of Robots
Committee:
Dr. Egerstedt, Advisor
Dr. Vela, Chair
Dr. Wardi
Abstract:
The objective of the proposed research is to design barrier certificates that provably ensure correct composition of multiple objectives for coordinated teams of robots. The non-negotiable objectives for the team, such as collision avoidance and connectivity maintenance, will always be satisfied. Meanwhile, the negotiable higher level objective, such as covering an area and maintaining a formation, will be respected as much as possible. These requirements are handled with a real-time optimization-based algorithm, which results in a minimally-invasive safety enforcement strategy. The proposed barrier certificates are validated with experiments for coordinated teams of ground mobile robots and quadrotors.
