Research paper
Nonsmooth barriers · Boolean composition of robot constraints
Max/min operators compose barrier constraints as Boolean formulas, supported by nonsmooth analysis for differential inclusions. A mobile-robot team demonstrates the composed constraints.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Nonsmooth Barrier Functions With Applications to Multi-Robot Systems
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Authors
- Paul Glotfelter, Jorge Cortes, Magnus Egerstedt
- DOI
- 10.1109/lcsys.2017.2710943
- Publication date
- 2017-10
- Source language
- en
- Edition
- IEEE Control Systems Letters; 2017-10; DOI 10.1109/lcsys.2017.2710943
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Max/min operators compose barrier constraints as Boolean formulas, supported by nonsmooth analysis for differential inclusions. A mobile-robot team demonstrates the composed constraints.
Use and review
Author abstract and bibliography checked. Logic composition, solution existence and actuation assumptions require validation for the target robots.
Sources & editions
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems ↗
Institute of Electrical and Electronics Engineers (IEEE) · IEEE Control Systems Letters; 2017-10; DOI 10.1109/lcsys.2017.2710943
IEEE L-CSS2017 DOI10.1109/LCSYS.2017.2710943; original manuscript https://par.nsf.gov/servlets/purl/10057932.