Research paper

Composed barriers · Combining avoidance and connectivity

Objectives encoded as barrier functions are composed with AND/OR operations. Experiments with four mobile robots evaluate joint collision avoidance and static/dynamic graph-connectivity requirements.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots
Publisher: IEEE
Authors: Li Wang, Aaron D. Ames, Magnus Egerstedt
DOI: 10.1109/cdc.2016.7798663
Publication date: 2016-12
Source language: en
Edition: 2016 IEEE 55th Conference on Decision and Control (CDC); 2016-12; DOI 10.1109/cdc.2016.7798663
Access: Publisher metadata and open author manuscript
Publication status: Published

Related resources and engineering notes

Turn each safety function into evidence

Source overview

Objectives encoded as barrier functions are composed with AND/OR operations. Experiments with four mobile robots evaluate joint collision avoidance and static/dynamic graph-connectivity requirements.

Use and review

Author abstract and bibliography checked. Composition validity and control feasibility assumptions require confirmation for the target robot team.

Sources & editions

Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots ↗

IEEE · 2016 IEEE 55th Conference on Decision and Control (CDC); 2016-12; DOI 10.1109/cdc.2016.7798663

CDC2016 author abstract https://arxiv.org/abs/1608.06887 and https://liwanggt.github.io/files/B5_Composable_Barrier.pdf.