Distributed Collision Avoidance & Connectivity Maintenance
for Multi-Robot Systems
Project information
- Category: Robotics
- Focus: Distributed Systems Multi-Robot Safety Enforcement Control
- Tech Stack: MATLAB/Simulink Optimization Toolbox
- Project date: February 2026
- Official Repository
Overview
This project presents a safety-critical framework for multi-robot coordination, integrating Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance and swarm connectivity. The system utilizes a Distributed Information-Aware architecture where agents independently estimate the swarm's algebraic connectivity ($\lambda_2$) through multi-hop consensus protocols:
By quantifying estimation uncertainty, the controller dynamically modulates connectivity gains, ensuring network integrity even in complex environments.
3
CBF-Based Controllers
5
Robots in the Swarm
42
Obstacles in Dense Scenario
Key Elements
Swarm Intelligence
5 double-integrator agents coordinate via local QP solvers to reach individual goals while satisfying shared safety constraints.
Multi-Hop Networking
Position and $\lambda_2$ estimates propagate across the graph via multi-hop relaying with confidence decay and message timeout.
Spectral Topology
Real-time analysis of the swarm's Laplacian matrix, $\lambda_2(L)>0$ to preserve network cohesion
Control Barrier Functions
$\dot{h} \ge -\gamma h$
Enforcing hard mathematical constraints on the system's state space.
Contacts
Get in touch with me!