This repository contains the code corresponding to the paper titled: Deadlock-Aware Control for Multi-Robot Coordination with Multiple Safety Constraints. The proposed framework focuses on detecting and avoiding deadlocks in multi-robot systems while ensuring safety and performance through the use of Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs).
Note: This repository will be made public upon the paper's publication.
- Distributed Control Framework
- Multiple Safety Constraints
- Potential Deadlock Detection
- Reactive Deadlock Avoidance
- Comparison with Other Methods
- Python 3.x
numpymatplotlibqpsolvers