Work

Decentralized collision avoidance and global connectivity maintenance using nested control barrier functions

Year: 2025

Type: article

Abstract: This paper proposes a decentralised nested control barrier function (CBF) as a solution for simultaneous collision avoidance and global connectivity maintenance in a multi-agent system. A control barrier function is used to meet multiple control objectives while satisfying certain safety constraints. To incorporate multiple constraints, multiple barrier functions need to be formulated. In this paper, we have developed nested CBF approach, where the functions are hierarchical – the outermost function corresponds to the barrier function with the highest priority. By combining connectivity maintenance and collision avoidance, team of robots can autonomously cooperate to accomplish a user-assigned task. Mathematical analysis and simulation results demonstrate the efficacy of the approach.

Source: International Journal of Systems Science

DOI: 10.1080/00207721.2025.2583240

Authors: Pranjal Bhatia, Sayan Basu Roy, P. B. Sujit, Luis Mejias Alvarez, Aaron McFadyen

Institutions: Indraprastha Institute of Information Technology Delhi, Queensland University of Technology, International Institute of Information Technology, Hyderabad, Indian Institute of Science Education and Research Kolkata, Indian Institute of Science Education and Research, Bhopal

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: Queensland University of Technology, Indraprastha Institute of Information Technology, Delhi

OpenAlex ID: W4416131808

FWCI: 0.719

Cites: 26

Cited by: 2

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