# Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions

## TL;DR

This paper introduces a decentralized, passivity-based control method using control barrier functions to coordinate multi-robot systems with communication delays, ensuring safety and dissipativity.

## Contribution

It presents a novel decentralized optimization-based control framework that preserves dissipativity in multi-robot systems with delays using control barrier functions.

## Key findings

- Effective formation control demonstrated with delayed communication
- Decentralized optimization enables fast, scalable solutions
- System maintains safety and stability despite delays

## Abstract

In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot system remains dissipative. This is achieved by encoding the dissipativity-preserving condition as a set invariance constraint. This constraint is then included in an optimization problem, whose objective is that of modifying, in a minimally invasive fashion, the nominal input to the robots. The formulated optimization problem is decentralized in the sense that, in order to be solved, it does not require the individual robots to have access to global information. Moreover, thanks to its convexity, each robot can solve it using fast and efficient algorithms. The effectiveness of the proposed control framework is demonstrated through the implementation of a formation control algorithm in presence of delays on a team of mobile robots.