@inproceedings{ed90e92289174d52b570931e79eeff3a,
title = "Cooperative Event Triggered Control for Multi-Robot Systems with Collision Avoidance",
abstract = "This paper investigates the safety critical control for multi-robot systems with event triggered mechanism and presents an algorithm to ensure the collision avoidance which satisfies safety constraints in the motion of robots. This is achieved by minimizing the difference between the actual and the nominal controllers subject to safety constraints. The barrier function-based constraints are then combined to formulate a quadratic programming problem which modifies the nominal controller when necessary to achieve both collision avoidance. Finally, a numerical simulation is provided to verify the effectiveness of the theoretical algorithm.",
keywords = "Collision Avoidance, Event Triggered Control, Multi-Robot Systems",
author = "Xiaoduo Li and Xiang Yin and Shaoyuan Li",
note = "Publisher Copyright: {\textcopyright} 2021 Technical Committee on Control Theory, Chinese Association of Automation.; 40th Chinese Control Conference, CCC 2021 ; Conference date: 26-07-2021 Through 28-07-2021",
year = "2021",
month = jul,
day = "26",
doi = "10.23919/CCC52363.2021.9549497",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5460--5465",
editor = "Chen Peng and Jian Sun",
booktitle = "Proceedings of the 40th Chinese Control Conference, CCC 2021",
address = "美国",
}