Our groups’s paper on formation maintenance with a safety certificate was accepted to IEEE Conference on Control Technology and Applications 2022.
In this paper, we propose a novel cooperative control based on control barrier function for navigating a multi-robot system to a goal while maintaining formation and avoiding collision with static obstacle and other formations. The proposed control algorithm has potential to be deployed in multi-robot system for a warehouse automation.
The first author of the paper was working on his master thesis in IINES and the paper was based on his master thesis.