Range-only multi-robot heterogeneous orbital circumnavigation control framework proposed
What happened
Shubham Singh and other authors propose a safety-critical control framework for nonholonomic multi-robot systems, enabling each robot to circumnavigate a stationary target at a different orbital radius while maintaining spacing from neighbors and avoiding collisions. According to the paper, each robot simultaneously controls acceleration and turning rate, measures only its own distance to the target, and exchanges information only with the two adjacent robots on the ring; the framework uses a high-order control barrier function quadratic program (HOCBF-QP) to simultaneously constrain target distance, geofencing, and inter-robot safety. The authors state that simulations confirmed these guarantees, but the report does not provide physical experiments or quantitative results.
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- arXiv cs.RORange-only HOCBF-QP framework enables safe circumnavigation by heterogeneous-orbit multi-robot systems
The paper proposes a safety-critical control framework for nonholonomic multi-robot systems that lets each robot circumnavigate a stationary target at a different orbital radius while maintaining spacing from neighbors and avoiding collisions. Each robot measures only its distance to the target and exchanges information only with its two adjacent robots; it drives the radius to the target value via acceleration, balances the formation via turn-rate, and uses a higher-order control barrier function quadratic program (HOCBF-QP) to simultaneously constrain target distance, geofence, and inter-robot safety.
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