Coordination of Multi-Robot Systems
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Mohamed Boudiaf University of M’sila
Abstract
Thisthesisfocusesonthecoordinationofmulti-robotsystems,particularlyonfor
mationcontrol andthe integrationof safetymechanisms indynamic environments.
AmethodologycombiningControlBarrierFunctions(CBFs)andHigher-OrderCon
trolBarrierFunctions (HOCBFs) isdevelopedtoensurecollisionavoidanceandal
lowcontrolledformationdeformation. Casestudiesdemonstratetheeffectivenessof
theproposedframeworkinmaintainingsafetyandcoordinationincomplexscenarios.
Thisworkopensupprospects forapplications inareassuchasautonomous robotics
andsurveillance.Futureresearchwillexploretheintegrationofmachinelearningand
improvingresilienceagainstattacks.