Compositional barrier functions are proposed in this paper to systematicallycompose multiple objectives for teams of mobile robots. The objectives arefirst encoded as barrier functions, and then composed using AND and OR logicaloperators. The advantage of this approach is that compositional barrierfunctions can provably guarantee the simultaneous satisfaction of all composedobjectives. The compositional barrier functions are applied to the example ofensuring collision avoidance and static/dynamical graph connectivity of teamsof mobile robots. The resulting composite safety and connectivity barriercertificates are verified experimentally on a team of four mobile robots.
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