Safety Barrier Certificates for Collisions-Free Multirobot Systems

By Li Wang, Aaron D. Ames, Magnus Egerstedt. IEEE Transactions on robotics, 2017

826 citations recorded by the source corpus.

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Control Barrier Functions: Theory and Applications (2019, background): “The utility of this new formulation of control barrier functions is evidenced by the application domains it has been applied to since its inception, including: automotive systems [22], [23], [24], mulit-robot systems [25], [26], [27], quadrotors [28], [29] and robotic systems including walking robot”
Input-to-State Safety With Control Barrier Functions (2018, background): “To date, this new notion of CBFs have been successfully implemented in automotive systems [19], flying systems [15], multi-robot systems [16], and also walking robots [5].”
Nonsmooth Barrier Functions With Applications to Multi-Robot Systems (2017, methodology): “For an excellent survey of these methods for multi-agent systems, we refer the reader to [8].”
A Survey on Aerial Swarm Robotics (2018, background): “volves the use of artificial potential fields [121]–[124] or barrier functions [125], [126].”