The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously developed theory for distributed collaborative safety-critical control for networked dynamic systems, we propose a distributed algorithm for the formation control of robot swarms given individual agent dynamics, induced formation dynamics, and local neighborhood position and velocity information within a defined sensing radius for each agent. Individual safety guarantees for each agent are obtained using rounds of communication between neighbors to restrict unsafe control actions among cooperating agents through safety conditions derived from high-order control barrier functions. We provide conditions under which a swarm is guaranteed to achieve collective safety with respect to multiple obstacles using a modified collaborative safety algorithm. We demonstrate the performance of our distributed algorithm via simulation in a simplified physics-based environment.

翻译：多机器人集群的安全控制是一个具有挑战性且活跃的研究领域，其共同目标包括在保持群体凝聚力的同时避免障碍物和智能体间碰撞。基于我们先前发展的分布式协同安全关键控制理论（面向网络化动态系统），本文提出了一种针对机器人集群编队控制的分布式算法。该算法考虑个体智能体动力学、诱导编队动力学，以及在每个智能体定义感知半径内的局部邻域位置与速度信息。通过邻居间的多轮通信，利用高阶控制障碍函数推导出的安全条件限制协作智能体间的非安全控制动作，从而为每个智能体提供个体安全保障。我们给出了采用改进协作安全算法后集群能针对多障碍物实现集体安全性的条件。通过在简化物理仿真环境中的实验，验证了所提分布式算法的性能。