Research paper
Barrier certificates for collision-free mobile-robot swarms
Centralized and decentralized barrier controllers modify coordination commands to avoid inter-robot collisions. The author manuscript abstract reports double-integrator modelling, simulation and multi-robot experiments.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Control Barrier Certificates for Safe Swarm Behavior
- Publisher
- Elsevier BV
- Authors
- Urs Borrmann, Li Wang, Aaron D. Ames, Magnus Egerstedt
- DOI
- 10.1016/j.ifacol.2015.11.154
- Publication date
- 2015
- Source language
- en
- Edition
- IFAC-PapersOnLine48(27),68–73;2015
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Source overview
Centralized and decentralized barrier controllers modify coordination commands to avoid inter-robot collisions. The author manuscript abstract reports double-integrator modelling, simulation and multi-robot experiments.
Use and review
Abstract and bibliographic review only. Guarantees depend on model, uncertainty and constraint assumptions; no ISO13849 safety function or complete installation was validated.
Sources & editions
Control Barrier Certificates for Safe Swarm Behavior ↗
Elsevier BV · IFAC-PapersOnLine48(27),68–73;2015
Primary author-hosted manuscript first-page abstract verified via webPDFextraction; publisherindexedabstract confirms DOI/IFAC-PapersOnLine48(27),68–73. No binary/full-text retained.