Safe Circumnavigation on Heterogeneous Orbits: A Range-Only HOCBF-QP Framework for Nonholonomic Multi-Agent Systems
Overview
This research presents a safety-critical control framework enabling a team of robots with heterogeneous orbital radii to safely circumnavigate a stationary target. The approach relies solely on range measurements to the target and local information exchange between adjacent neighbors in the ring formation. By leveraging structural properties of the system model, a unified control law manages acceleration and turn-rate for all robots regardless of their assigned radius. A higher-order control-barrier-function quadratic program enforces safety constraints on both inputs simultaneously without modifying the nominal controller outside constraint boundaries. Simulations demonstrate that this method maintains target standoff distances and inter-robot margins effectively, outperforming existing multi-orbit designs even when those designs have access to full state information.
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“its target, while the turn-rate balances the formation with the neighbours. Third, a higher-order control-barrier-function quadratic program enforces target, geofence, and inter-robot safety on both inputs at once; it leaves the nominal controller untouched away from the constraints and stays valid while the unmeasured range rate is still being estimated. Simulations confirm these guarantees. In a comparison, the clo”
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- arXiv Robotics — research abstractsSignalSafe Circumnavigation on Heterogeneous Orbits: A Range-Only HOCBF-QP Framework for Nonholonomic Multi-Agent Systems
This research presents a safety-critical control framework enabling a team of robots with heterogeneous orbital radii to safely circumnavigate a stationary target. The approach relies solely on range measurements to the target and local information exchange between adjacent neighbors in the ring formation. By leveraging structural properties of the system model, a unified control law manages acceleration and turn-rate for all robots regardless of their assigned radius. A higher-order control-barrier-function quadratic program enforces safety constraints on both inputs simultaneously without modifying the nominal controller outside constraint boundaries. Simulations demonstrate that this method maintains target standoff distances and inter-robot margins effectively, outperforming existing multi-orbit designs even when those designs have access to full state information.
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