In this article, the authors propose a new approach to ensuring safety in multi-robot systems by using safety barrier certificates. These certificates provide a guarantee that the system will not collide with other robots or obstacles, even when the system’s parameters change. The approach is based on mathematical modeling and simulation, and it is shown to be effective in ensuring safety for second-order systems.
The authors define a set of safety barrier certificates associated with a system model, which are used to prove that the system is safe under certain conditions. These certificates are derived from the system’s relative degree and are based on a series of sets and functions. The number of functions and sets in the series depends on the system’s relative degree, and it is shown that these certificates are necessary for guaranteeing safety in second-order systems.
The authors use examples to illustrate how the safety barrier certificates work, including a scenario where two robots are navigating through a maze. In this scenario, the safety barrier certificates prove that the robots will not collide with each other or the walls of the maze, even when their parameters change.
The article concludes by highlighting the potential benefits of using safety barrier certificates in multi-robot systems, including improved safety and reduced complexity. The authors note that their approach is a significant advancement in the field, as it provides a new way to ensure safety in complex systems.
Overall, the article provides a clear and concise explanation of the proposed method for ensuring safety in multi-robot systems, and it demonstrates its effectiveness through examples. The use of everyday language and engaging analogies makes the article accessible to a wide range of readers.
Multi-Object Collision Avoidance in Dynamic Environments using CBFs
