Safety Barrier Certificates for Heterogeneous Multi-Robot Systems

This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier functions (CBFs) which guarantee forward invariance of a safe set; these yield safety barrier certificates in the context of heterogeneous robot dynamics subject to acceleration bounds. Moreover, safety barrier certificates are extended to a distributed control framework, wherein neighboring agent dynamics are unknown, through local parameter identification. The end result is an optimization-based controller that formally guarantees collision free behavior in heterogeneous multi-agent systems by minimally modifying the desired controller via safety barrier constraints. This formal result is verified in simulation on a multi-robot system consisting of both cumbersome and agile robots, is demonstrated experimentally on a system with a Magellan Pro robot and three Khepera III robots.Comment: 8 pages version of 2016ACC conference paper, experimental results adde

Hybrid-Vehfog: A Robust Approach for Reliable Dissemination of Critical Messages in Connected Vehicles

Vehicular Ad-hoc Networks (VANET) enable efficient communication between vehicles with the aim of improving road safety. However, the growing number of vehicles in dense regions and obstacle shadowing regions like Manhattan and other downtown areas leads to frequent disconnection problems resulting in disrupted radio wave propagation between vehicles. To address this issue and to transmit critical messages between vehicles and drones deployed from service vehicles to overcome road incidents and obstacles, we proposed a hybrid technique based on fog computing called Hybrid-Vehfog to disseminate messages in obstacle shadowing regions, and multi-hop technique to disseminate messages in non-obstacle shadowing regions. Our proposed algorithm dynamically adapts to changes in an environment and benefits in efficiency with robust drone deployment capability as needed. Performance of Hybrid-Vehfog is carried out in Network Simulator (NS-2) and Simulation of Urban Mobility (SUMO) simulators. The results showed that Hybrid-Vehfog outperformed Cloud-assisted Message Downlink Dissemination Scheme (CMDS), Cross-Layer Broadcast Protocol (CLBP), PEer-to-Peer protocol for Allocated REsource (PrEPARE), Fog-Named Data Networking (NDN) with mobility, and flooding schemes at all vehicle densities and simulation times

Impulse-Based Hybrid Motion Control

The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states, either relative position or velocity. In this paper, the proposed control method is extended to a general hybrid motion control form. We are using the paradigm of hybrid system modeling while explicitly specifying the state trajectories each time the continuous system state hits the guards that triggers impulsive control actions. The conditions for a stable convergence to zero equilibrium are derived in relation to the control parameters, while requiring only the upper bound of damping uncertainties to be known. Numerical examples are shown for an underdamped closed-loop dynamics with oscillating transients, an upper bounded time-varying positive system damping, and system with an additional Coulomb friction damping.Comment: 6 pages, 4 figures, IEEE conferenc

Relieving the Wireless Infrastructure: When Opportunistic Networks Meet Guaranteed Delays

Major wireless operators are nowadays facing network capacity issues in striving to meet the growing demands of mobile users. At the same time, 3G-enabled devices increasingly benefit from ad hoc radio connectivity (e.g., Wi-Fi). In this context of hybrid connectivity, we propose Push-and-track, a content dissemination framework that harnesses ad hoc communication opportunities to minimize the load on the wireless infrastructure while guaranteeing tight delivery delays. It achieves this through a control loop that collects user-sent acknowledgements to determine if new copies need to be reinjected into the network through the 3G interface. Push-and-Track includes multiple strategies to determine how many copies of the content should be injected, when, and to whom. The short delay-tolerance of common content, such as news or road traffic updates, make them suitable for such a system. Based on a realistic large-scale vehicular dataset from the city of Bologna composed of more than 10,000 vehicles, we demonstrate that Push-and-Track consistently meets its delivery objectives while reducing the use of the 3G network by over 90%.Comment: Accepted at IEEE WoWMoM 2011 conferenc