RBE Masters Thesis Presentation: Vishrut Bohara | Estimation-based Safety-Critical Adaptive Control of Multi-Agent Robotic Systems
11:00 a.m. to 12:30 p.m.
RBE Masters Thesis Presentation
Vishrut Bohara
Estimation-based Safety-Critical Adaptive Control of Multi-Agent Robotic Systems
December 6th, 2023
11:00 AM - 12:30 PM
Virtual Zoom Link: https://wpi.zoom.us/j/94965497398
Abstract: An adaptive estimation-based control design for multi-agent robotic systems that swiftly estimates the states of the cluster while operating the autonomous vehicle within a safe region is proposed. Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) are employed to design a safety-critical controller that ensures safety despite potential estimation errors. The proposed estimator-controller framework is implemented in various 1D and 2D scenarios with and without agent-to-agent communication, demonstrating successful performance in maintaining safety and stability. Additionally, physics engine-based simulations reinforce both the practical viability of the proposed control framework in real-world situations and the controller’s adeptness at ensuring safety amidst realistic environmental conditions.