Distributed barrier function-enabled human-in-the-loop control for multi-robot systems
Victor Nan Fernandez-Ayala,Xiao Tan,Dimos V. Dimarogonas,Victor Nan Fernandez-Ayala,Xiao Tan,Dimos V. Dimarogonas
In this work, we propose a distributed control scheme for multi-robot systems in the presence of multiple constraints using control barrier functions. The proposed scheme expands previous work where only one single constraint can be handled. Here we show how to transform multiple constraints to a collective one using a smoothly approximated minimum function. Additionally, human-in-the-loop control...
