Passivity-Based Control of Delayed Multi-Robot Systems Using Control Barrier Functions

How to coordinate two multi-robot systems in two multi-robot labs separated by 11,000 Km?

The GRITS Lab at Georgia Tech and the Fujita-Yamauchi Lab at Tokyo Tech deploy their GRITSbots and Omnis to perform coordinated-control algorithms from their respective labs. The next video summarizes the first experiment of its kind.


In order to overcome the effects of delays while implementing non-passive coordinated-control algorithms, a dissipativity-preserving approach which leverages control barrier functions has been developed. The technical details can be found in this paper, while the following video shows the preliminary results of the implementation of a non-passive formation control algorithm on a multi-robot systems with a non-uniformly delayed communication channel.