Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems
This paper examines pairwise collaborations in heterogeneous multi-robot systems. In particular, we focus on how individual robots, with different functionalities and dynamics, can enhance their resilience by forming collaborative arrangements that result in new capabilities. Control barrier functio...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Open Journal of Control Systems |
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| Online Access: | https://ieeexplore.ieee.org/document/10693575/ |
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| author | Alexander A. Nguyen Faryar Jabbari Magnus Egerstedt |
| author_facet | Alexander A. Nguyen Faryar Jabbari Magnus Egerstedt |
| author_sort | Alexander A. Nguyen |
| collection | DOAJ |
| description | This paper examines pairwise collaborations in heterogeneous multi-robot systems. In particular, we focus on how individual robots, with different functionalities and dynamics, can enhance their resilience by forming collaborative arrangements that result in new capabilities. Control barrier functions are utilized as a mechanism to encode the safe operating regions of individual robots, with the idea being that a robot may be able to operate in new regions that it could not traverse alone by working with other robots. We explore answers to three questions: “Why should robots collaborate?”, “When should robots collaborate?”, and “How can robots collaborate?” To that end, we introduce the safely reachable set – capturing the regions that individual robots can reach safely, either with or without help, while considering their initial states and dynamics. We then describe the conditions under which a help-providing robot and a help-receiving robot can engage in collaboration. Next, we describe the pairwise collaboration framework, modeled through hybrid automata, to show how collaborations can be structured within a heterogeneous multi-robot team. Finally, we present case studies that are conducted on a team of mobile robots. |
| format | Article |
| id | doaj-art-0a207cf0fe4d4d5087f0c0eb7c809396 |
| institution | Kabale University |
| issn | 2694-085X |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Control Systems |
| spelling | doaj-art-0a207cf0fe4d4d5087f0c0eb7c8093962025-01-09T00:03:04ZengIEEEIEEE Open Journal of Control Systems2694-085X2024-01-01346147110.1109/OJCSYS.2024.346799110693575Resiliency Through Collaboration in Heterogeneous Multi-Robot SystemsAlexander A. Nguyen0https://orcid.org/0000-0001-9798-033XFaryar Jabbari1https://orcid.org/0000-0002-8873-6551Magnus Egerstedt2https://orcid.org/0000-0003-4213-5299Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USADepartment of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USADepartment of Mechanical and Aerospace Engineering, University of California, Irvine, CA, USAThis paper examines pairwise collaborations in heterogeneous multi-robot systems. In particular, we focus on how individual robots, with different functionalities and dynamics, can enhance their resilience by forming collaborative arrangements that result in new capabilities. Control barrier functions are utilized as a mechanism to encode the safe operating regions of individual robots, with the idea being that a robot may be able to operate in new regions that it could not traverse alone by working with other robots. We explore answers to three questions: “Why should robots collaborate?”, “When should robots collaborate?”, and “How can robots collaborate?” To that end, we introduce the safely reachable set – capturing the regions that individual robots can reach safely, either with or without help, while considering their initial states and dynamics. We then describe the conditions under which a help-providing robot and a help-receiving robot can engage in collaboration. Next, we describe the pairwise collaboration framework, modeled through hybrid automata, to show how collaborations can be structured within a heterogeneous multi-robot team. Finally, we present case studies that are conducted on a team of mobile robots.https://ieeexplore.ieee.org/document/10693575/Barrier functionscollaborationheterogeneous multi-robot systemsreachable setsand robot ecology |
| spellingShingle | Alexander A. Nguyen Faryar Jabbari Magnus Egerstedt Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems IEEE Open Journal of Control Systems Barrier functions collaboration heterogeneous multi-robot systems reachable sets and robot ecology |
| title | Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems |
| title_full | Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems |
| title_fullStr | Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems |
| title_full_unstemmed | Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems |
| title_short | Resiliency Through Collaboration in Heterogeneous Multi-Robot Systems |
| title_sort | resiliency through collaboration in heterogeneous multi robot systems |
| topic | Barrier functions collaboration heterogeneous multi-robot systems reachable sets and robot ecology |
| url | https://ieeexplore.ieee.org/document/10693575/ |
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