论文标题
将控制屏障功能和行为树结合起来，用于多代理水下覆盖任务
Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions
论文作者
论文摘要
机器人任务通常涉及许多期望的目标，例如避免碰撞，保持连接到其他机器人，使用传感器收集信息并在电池用完之前返回充电站。这些目标中的一些需要同时考虑，例如避免碰撞并保持联系，而其他目标则在执行的不同部分期间专注于返回充电站和连接维护。 在本文中，我们展示了如何以原则性的方式组合控制障碍功能（CBF）和行为树（BTS），以实现两种类型的任务组成，并在任务完成方面保证绩效保证。我们通过模拟的水下覆盖任务来说明我们的方法。
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of these objectives need to be taken into account at the same time, such as avoiding collisions and staying connected, while others are focused upon during different parts of the executions, such as returning to the charging station and connectivity maintenance. In this paper, we show how Control Barrier Functions(CBFs) and Behavior Trees(BTs) can be combined in a principled manner to achieve both types of task compositions, with performance guarantees in terms of mission completion. We illustrate our method with a simulated underwater coverage mission.
