A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation
A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation
This research presents a decentralized safety controller called Capability-Aware Backup-Recoverability Filter (CA-BRF) designed for heterogeneous multi-robot teams. It addresses challenges arising from differences in braking and turning capabilities, ensuring that local safety constraints remain compatible with admissible controls. The method constructs a backup-recoverable set in Cartesian operational space, filters candidate controls to preserve recovery access, and coordinates selections across simultaneous interactions. Validated through simulations with up to 30 heterogeneous robots and experiments involving five different kinematic classes, the approach establishes recursive feasibility and safety for discrete-time closed-loop systems even when nominal optimization becomes infeasible.
The paper introduces a decentralized safety controller for heterogeneous multi-robot teams that maintains recursive feasibility by preserving access to certified recovery maneuvers, validated in simulations with up to 30 robots and experiments across five kinematic classes.
Source: arXiv Robotics — research abstracts · Read original article ↗
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ility while retaining as much of the candidate action as possible and ensures that all pairwise recovery conditions are satisfied by a single executable control for each robot. Together, we establish recursive feasibility and safety for the discrete-time closed-loop system even when the nominal safety-constrained optimization becomes infeasible. The validity and effectiveness of the proposed CA-BRF are validated in s
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Source：arXiv Robotics — research abstracts · arxiv.org