Safe Cooperative Control of Human-Robotic Network Teaming with Control Barrier Function

This paper proposes a cooperative control law based on control barrier function (CBF) for human-robotic network teaming. The objective is to guarantee human-enabled motion synchronization to the desired position while keeping the fulfillment of safety constraints. The safety barrier is implemented through solving an optimization problem to ensure obstacle avoidance, collision avoidance, and geometric constraints' satisfaction. We propose a cooperative control in combination with scattering transformation to ensure the stability of the system in the presence of delays. Our proposed cooperative control contains a stabilized term to mitigate windup-like problems which might occur when we combine a cooperative control with CBF. The effectiveness of the proposed solution is demonstrated through simulations and experiments.