SE MS Thesis Presentation of Andrew Schoer

TITLE: SAFE NAVIGATION AND PATH PLANNING FOR MULTIAGENT SYSTEMS WITH CONTROL BARRIER FUNCTIONS

ABSTRACT: Finding safe trajectories for multiagent autonomous systems can be difficult, especially as additional robots and obstacles are added to the system. Control barrier functions (CBFs) have been effective in addressing this problem. Although guaranteeing safe operation via CBF methods is well established, there is no standard softwareimplementation to simplify the integration of CBF techniques into robotic systems. This thesis presents a CBF Toolbox to fill this void. In certain environments, the control methods of the CBF Toolbox, which are based on local control decisions, may not be sufficient to guide a robot to its goal. In these cases, path planning algorithms are required. Ensuring the safety of these path planning algorithms can be aided through the use of the CBF Toolbox.

This work addresses the theory behind the CBF Toolbox, as well as presenting examples of how it is applied tomultiagent systems. Examples are shown for its use in both simulation and hardware experiments. Additionally, it is used to program CBF guided rapidly-exploring random trees (CBF-RRT), and to develop multiagent CBF-RRT (MA-CBF-RRT) which streamlines safe path planning for teams of robots.

COMMITTEE: ADVISORRoberto Tron, SE, ME; Calin Belta, SE, ME; Lori Layne, MIT Lincoln Laboratory

When 1:00 pm on Friday, December 18, 2020
Location Zoom