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CA-BRF: A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation

The authors propose a Capability-Aware Backup-Recoverability Filter (CA-BRF) that constructs a backup-recoverable set in a shared Cartesian operational space and uses it to screen candidate controls, so that each robot retains a certified recovery maneuver consistent with its own kinematic and actuation constraints. The method selects admissible interpolations between candidate and backup actions and coordinates simultaneous interactions, thereby guaranteeing recursive feasibility and safety of the discrete-time closed-loop system even when the nominal safety-constrained optimization is infeasible. Simulations cover up to 30 heterogeneous robots, and experiments involve five distinct kinematic classes.

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