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Computer Science > Robotics

arXiv:2306.15115 (cs)
[Submitted on 26 Jun 2023]

Title:Energy Sufficiency in Unknown Environments via Control Barrier Functions

Authors:Hassan Fouad, Vivek Shankar Varadharajan, Giovanni Beltrame
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Abstract:Maintaining energy sufficiency of a battery-powered robot system is a
essential for long-term missions. This capability should be flexible enough to
deal with different types of environment and a wide range of missions, while
constantly guaranteeing that the robot does not run out of energy. In this
work we present a framework based on Control Barrier Functions (CBFs) that
provides an energy sufficiency layer that can be applied on top of any path
planner and provides guarantees on the robot's energy consumption during mission
execution. In practice, we smooth the output of a generic path planner using
double sigmoid functions and then use CBFs to ensure energy sufficiency along
the smoothed path, for robots described by single integrator and unicycle
kinematics. We present results using a physics-based robot simulator, as well
as with real robots with a full localization and mapping stack to show the
validity of our approach.
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2306.15115 [cs.RO]
  (or arXiv:2306.15115v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2306.15115

Submission history

From: Hassan Fouad [view email]
[v1] Mon, 26 Jun 2023 23:51:03 UTC (34,116 KB)
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