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Safety-Certified Distributed Formation for Uncertain Multirobot Systems With Minimum Restrictive Connectivity Maintenance
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DOI：10.1109/tii.2026.3683948.png)
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Abstract
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This article addresses the distributed formation control problem for safety-certified uncertain multirobot systems with minimum restrictive connectivity maintenance (MRCM). Compared to this problem with deterministic models, it presents inherently more challenging requirements for safety and stability analysis. An integrated quadratic programming controller incorporating input-to-state safety control barrier functions (ISSf-CBFs) is developed to simultaneously enforce safety certification and MRCM. This controller builds upon a nominal design leveraging input-to-state stability and ISSf lemmas. The derived ISSf-CBFs provide formal guarantees for both safety certification and MRCM under uncertainties. The key to obtaining this controller lies in constructing ISSf-CBFs that enable safety certification and MRCM, from which the corresponding constraints are formally derived. Unlike existing methods, the strategy maximizes formation performance by executing formation tasks at full capability whenever possible, and only modifying the nominal controller when safety or MRCM constraints are violated. Finally, simulation and experiment validate the effectiveness of the proposed controller.
Keywords:
Formation control
input-to-state safety
minimum restrictive connectivity maintenance (MRCM)
multirobot systems
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