A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation
Overview
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.
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- arXiv Robotics — research abstractsSignalA 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.
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