This paper presents safety barrier certificates that ensure scalable and provably collision-free
behaviors in multirobot systems by modifying the nominal controllers to formally satisfy …

This paper presents a formal framework for collision avoidance in multi-robot systems,
wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We …

Multi-agent robotics involves the coordination of large numbers of robots, which leads to
significant challenges in terms of collision avoidance. This paper generates provably collision …

This paper provides an introduction and overview of recent work on control barrier functions
and their use to verify and enforce safety properties in the context of (optimization based) …

This paper describes the Robotarium - a remotely accessible, multi-robot research facility.
The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and …

Safety Barrier Certificates that ensure collision-free maneuvers for teams of differential
flatness-based quadrotors are presented in this paper. Synthesized with control barrier functions, …

Compositional barrier functions are proposed in this paper to systematically compose multiple
objectives for teams of mobile robots. The objectives are first encoded as barrier functions, …

This letter introduces integral control barrier functions (I-CBFs) as a means to enable the
safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic …

This paper presents experimental results on novel robot testbeds that allow the evaluation
of the simultaneous implementation of adaptive speed regulation and lane keeping in a safe, …

This letter studies a distributed collision avoidance control problem for a group of rigid
bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a …