Robust, Flexible and Safe Cooperative Navigation for Multirobot Systems Under Disturbances and Input Saturation

This paper studies the cooperative navigation problem for multirobot systems with guaranteed collision avoidance and connectivity maintenance, under disturbances and input saturation. To achieve robust cooperative navigation while ensuring safety requirements, robust control barrier function (RCBF) is utilized, with the helps from disturbance observer for flexibility and asymptotically state consensus. The safety condition in QP problem is given in a unique and distributed fashion. A switching topology is constructed to avoid unnecessary connectivity constraints. Simulation results help verify the effective of our proposed strategy.