A Control Barrier Function Composition Approach for Multi-Agent Systems
in Marine Applications
A Control Barrier Function Composition Approach for Multi-Agent Systems
in Marine Applications
The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a set of relative-pose constraints, which may include field-of-view, line-of-sight, collision-avoidance, and range constraints. A nominal controller designed for reference tracking may not guarantee the …