Frequency response of swarm deformation with control barrier function

Abstract In this study, we focused on robotic swarms, allowing multiple anonymous autonomous robots to gather and move mutually in tasks. We proposed a method design parameter of the control barrier function (CBF) swarm so that can achieve collision-free deformation considering environmental conditions. analyzed responses perturbations swarming robots, which applied CBF. Although guarantee safe distance between mobile CBF limits their actions prevents deformation. Through analysis frequency domain, investigated effects selected deformability swarm. obtained an appropriate range parameters realize both maintenance retention.