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A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation — arXiv:2610.41188

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.41188
License (as archived): CC0-1.0
Archived: 2026-11-03T08:22:14.074Z
SHA-256 of the archived text: b3280f4fd8df50c3111072250a207d48c6ff18bbe4b5c9507cb33d4106b7be9e
Stable URL of this page: https://metraipolis.com/documento/dc_2b5ebfdb993e

How to cite

A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation — arXiv:2610.41188 — arXiv (en), https://arxiv.org/abs/2610.41188 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_2b5ebfdb993e (Metraipolis archive dc_2b5ebfdb993e, sha256 b3280f4fd8df50c3111072250a207d48c6ff18bbe4b5c9507cb33d4106b7be9e)

BibTeX

@misc{dc2b5ebfdb993e,
  title = {A Capability-Aware Backup-Recoverability Filter for Heterogeneous Multi-Robot Navigation — arXiv:2610.41188},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.41188},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_2b5ebfdb993e; sha256 b3280f4fd8df50c3111072250a207d48c6ff18bbe4b5c9507cb33d4106b7be9e},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.41188. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Safe navigation in heterogeneous multi-robot teams faces two coupled challenges: differences in robots' braking and turning capabilities limit how each robot can respond to an approaching neighbor, while simultaneous interactions require a single control action to satisfy multiple collision-avoidance constraints. Together, these challenges can make local safety constraints incompatible with a robot's admissible controls, leaving a decentralized safety controller without a feasible action. We propose a Capability-Aware Backup-Recoverability Filter (CA-BRF), based on the insight that navigation actions should preserve access to a certified recovery maneuver. First, we construct a backup-recoverable set in a shared Cartesian operational space by evaluating whether prescribed backup maneuvers maintain pairwise safety until the robots come to rest. Each maneuver respects the corresponding robot's kinematic and actuation constraints, making the recovery certificate capability-dependent. Second, CA-BRF filters candidate controls by selecting admissible interpolations between candidate and backup actions while coordinating the selection across simultaneous interactions. This preserves backup recoverability while retaining as much of the candidate action as possible and ensures that all pairwise recovery conditions are satisfied by a single executable control for each robot. Together, we establish recursive feasibility and safety for the discrete-time closed-loop system even when the nominal safety-constrained optimization becomes infeasible. The validity and effectiveness of the proposed CA-BRF are validated in simulations with up to 30 heterogeneous robots and experiments of robots with five different kinematic classes.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.41188 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-03T08:06:53.814Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).