Research paper
QP safety barriers for mobile-robot groups
Barrier constraints minimally modify nominal coordination commands through a quadratic program. The source addresses centralization, decentralization, braking and deadlocks, with wheeled-robot tests whose nominal commands deliberately cause collisions.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safety Barrier Certificates for Collisions-Free Multirobot Systems
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Authors
- Li Wang, Aaron D. Ames, Magnus Egerstedt
- DOI
- 10.1109/tro.2017.2659727
- Journal issue date
- 2017-06
- Source language
- en
- Source country
- US
- Edition
- IEEE Transactions on Robotics
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Barrier constraints minimally modify nominal coordination commands through a quadratic program. The source addresses centralization, decentralization, braking and deadlocks, with wheeled-robot tests whose nominal commands deliberately cause collisions.
Use and review
Guarantees are conditional on the stated dynamics, sensing and constraint assumptions. Abstract/source screening does not validate a complete robot installation or an ISO13849 safety function.
Sources & editions
Safety Barrier Certificates for Collisions-Free Multirobot Systems ↗
Institute of Electrical and Electronics Engineers (IEEE) · IEEE Transactions on Robotics
Primary author-institution abstract/DOI/authors and IEEE TRO33(3),661–674 checked. Distinct from ACC2016 heterogeneous-robot barrier paper.