Authors
Alexander A. Nguyen, Faryar Jabbari, Magnus Egerstedt
Abstract
This paper examines how different types of robots can work together so that participants can acquire new capabilities that do not manifest themselves individually. Control barrier functions are used as a mechanism to encode the safe operating region of each robot, with the idea being that individuals may be able to expand the sets in which they can function by forming beneficial collaborative arrangements. Specifically, we explore answers to three questions: “Why should robots collaborate?” (to expand the safe regions of operation), “When should robots collaborate?” (once particular barrier function and reachability conditions are satisfied), and “How can robots collaborate?” (through a hybrid automata-based collaboration framework).
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