Title:  Synthesis Of Barrier Certificate Based Controllers For Multi-Robot Motion Planning

Committee: 

Dr. Coogan, Advisor     

Dr. Vela, Chair

Dr. Egerstedt

Abstract:

The objective of the proposed research is to synthesize controllers for multi-robot systems subject to motion planning specifications. In particular, we propose barrier certificate based controllers which formally guarantee specification satisfaction and controller feasibility. First, an automated framework to synthesize controllers given a motion planning specification in temporal logic is developed. Next, a higher dimensional barrier function which guarantees controller feasibility in the domain of interest while also guaranteeing finite time convergence to a desired region is introduced. The proposed controllers are cast as quadratic programs (QPS) which are solved online. Hence, our framework is amenable to real-time implementation on robotic platforms. The proposed barrier certificate based controllers are validated with experiments conducted on the Robotarium multi-robot test bed.