Consensus-Based Control Barrier Function for Swarm
Manao Machida Masumi Ichien Manao Machida Masumi Ichien
In swarm control, many robots coordinate their actions in a distributed and decentralized way. We propose a consensus-based control barrier function (CCBF) for a swarm. CCBF restricts the states of the whole distributed system, not just those of the individual robots. The barrier function is approximated by a consensus filter. We prove that CCBF constrains the control inputs for holding the forwar...