论文标题
带有安全屏障证书的多机器人系统的红灯，绿灯游戏
Red Light, Green Light Game of Multi-Robot Systems with Safety Barrier Certificates
论文作者
论文摘要
在本文中，我们提出了针对不确定的多机器人系统的安全屏障证书，玩红灯，绿灯游戏。根据游戏的规则，在洋娃娃喊“绿灯”之后，机器人被允许前进，并且在喊“红灯”时必须停止。遵循此规则，设计了一个两模式的名义控制器，其中一种模式用于前进，另一种模式是放慢脚步和一动不动的。然后，开发了多个指数控制屏障功能（ECBF），以处理有限的操场，避免碰撞和速度饱和度的安全限制。在设计标称控制器和欧洲央行时，得出了估计的制动时间和强大的不平等限制，以处理系统的不确定性。因此，保证每个机器人安全屏障证书的控制器是由标称控制器和鲁棒不平等约束的二次编程制定的。最后，对红灯，绿灯游戏进行了模拟，以验证拟议的安全关键控制系统。
In this paper, we propose the safety barrier certificates for uncertain multi-robot systems playing red light, green light game. According to the rule of the game, the robots are allowed to move forward after a doll shouts `green light' and must stop when it shouts `red light'. Following this rule, a two-mode nominal controller is designed where one mode is for moving forward and the other one is for slowing down and being motionless. Then, multiple exponential control barrier functions(ECBFs) are developed to handle safety constraints for limited playground, collision avoidance, and saturation of the velocity. While designing the nominal controller and ECBFs, an estimated braking time and robust inequality constraints are derived to deal with the system uncertainty. Consequently, a controller guaranteeing safety barrier certificates of each robot has been formulated by a quadratic programming with the nominal controller and the robust inequality constraints. Finally, red light, green light game is simulated to validate the proposed safety-critical control system.
