Nonsmooth Barrier Functions With Applications to Multi-Robot Systems


As multi-agent systems become more wide-spread and versatile, the ability to satisfy multiple system-level constraints grows increasingly important. In applications ranging from automated cruise control to safety in robot swarms, barrier functions have emerged as a tool to provably meet such constraints by guaranteeing forward invariance of desirable sets… (More)
DOI: 10.1109/LCSYS.2017.2710943


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@article{Glotfelter2017NonsmoothBF, title={Nonsmooth Barrier Functions With Applications to Multi-Robot Systems}, author={Paul Glotfelter and Jorge Cortx00E9s and Magnus Egerstedt}, journal={IEEE Control Systems Letters}, year={2017}, volume={1}, pages={310-315} }