FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance

TL;DR

FORMULA is a novel framework combining MPC, CLFs, and neural network-based CBFs to enable scalable, safety-aware formation control in multi-robot systems navigating complex environments.

Contribution

It introduces a learning-enhanced, decentralized control scheme that eliminates manual safety constraints and improves formation preservation and obstacle avoidance.

Findings

Enables formation-preserving navigation in complex environments.

Reduces online computational load for multi-robot control.

Maintains safety and formation integrity during obstacle avoidance.

Abstract

Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a major challenge. Existing model predictive control (MPC) approaches suffer from limitations in scalability and provable safety, while control barrier functions (CBFs), though principled for safety enforcement, are difficult to handcraft for large-scale nonlinear systems. This paper presents FORMULA, a safe distributed, learning-enhanced predictive control framework that integrates MPC with Control Lyapunov Functions (CLFs) for stability and neural network-based CBFs for decentralized safety, eliminating manual safety constraint design. This scheme maintains formation integrity during obstacle avoidance, resolves deadlocks in dense configurations, and reduces online computational load. Simulation results demonstrate that FORMULA enables scalable, safety-aware, formation-preserving navigation for multi-robot teams in complex environments.