Insights on Control Barrier Functions Application for Complex Robotic Systems
摘要
Control Barrier Functions (CBFs) are a very useful tool for ensuring the safety and coordination of robots in complex environments. While versatile and offering formal safety guarantees, CBFs face challenges, including computational complexity and potential conservatism. This paper explores the practical differences between two CBF formulations (zeroing and reciprocal) through a case study involving multiple aerial robots coordinating for a desired formation. The results, collected in a simplified simulation scenario, show the different performance achieved with the two formulations.