Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
This research presents Capability-Aware Heterogeneous Control Barrier Functions (CA-HCBF), a decentralized framework designed to ensure safe navigation for heterogeneous robot teams with varying dynamics. The authors derive a unified operational-space formulation for both holonomic and nonholonomic robots, addressing relative-degree mismatches while maintaining forward invariance of pairwise safe sets. A key contribution is the quantification of each robot's achievable control authority using a support-function-based metric to allocate avoidance responsibility, complemented by a feasibility-aware clipping mechanism to mitigate physically unrealizable assignments. Simulations involving up to 30 heterogeneous robots and hardware experiments demonstrate high task completion rates, low safety violations, and reduced local quadratic programming (QP) infeasibility compared to existing methods.
The paper introduces a decentralized control framework for heterogeneous robot teams that accounts for dynamic differences and physical control limits to prevent safety-constrained optimization infeasibility.
Source: arXiv Robotics — research abstracts · Read original article ↗
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le responsibility assignments. Simulations with up to 30 heterogeneous robots and hardware experiments demonstrate high task completion with low safety violations and reduction in local QP infeasibility.
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Source：arXiv Robotics — research abstracts · arxiv.org