Research paper
Barrier certificates for heterogeneous robot collision avoidance
A controller modification framework accounts for different robot acceleration limits and local neighbor dynamics. The source reports simulation and a mobile-robot experiment, providing a concrete study of model-based collision constraints.
Reviewed 2026-11-04 · Source and bibliography checked
- Original title
- Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
- Publisher
- arXiv
- Authors
- Li Wang, Aaron Ames, Magnus Egerstedt
- DOI
- 10.1109/ACC.2016.7526486
- Publication date
- 2016-09-02
- Source language
- en
- Source country
- US
- Edition
- arXiv:1609.00651v1; expanded manuscript of ACC2016 paper
- Access
- open_archive_metadata_and_manuscript
- Publication status
- conference_manuscript
Source overview
A controller modification framework accounts for different robot acceleration limits and local neighbor dynamics. The source reports simulation and a mobile-robot experiment, providing a concrete study of model-based collision constraints.
Use and review
The archive identifies this as an expanded ACC 2016 manuscript. Its assumptions and experimental configuration define the evidence boundary. The displayed date is the later archive posting, rather than the conference date.
Sources & editions
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems ↗
arXiv · arXiv:1609.00651v1; expanded manuscript of ACC2016 paper
arXiv abstract and submission history; journal-reference field identifies ACC, pp.5213-5218, July2016, related DOI10.1109/ACC.2016.7526486.