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Deadlock Analysis and Resolution for Multi-Robot Systems

Title: Deadlock Analysis andResolution for Multi-Robot Systems Authors: Jaskaran Grover, Changliu Liu, Katia Sycara Abstract: Collision avoidance for multirobot systems is a well-studied problem. Recently, control barrier functions (CBFs) have been proposed for collision avoidance and goal stabilization. However, these methods are prone to deadlock. We formally derive characteristics of deadlock in a multirobot system that uses CBFs. We propose a novel approach to analyze deadlocks by using duality theory and graph enumeration. Our insight is that system deadlock is characterized by a force equilibrium and we show how complexity of deadlock analysis increases with the number of robots. This allows us to interpret deadlock as a subset of the state space, and we prove that this set is non-empty and located on the boundary of the safety set. Finally, we develop a provably correct algorithm for deadlock resolution. We show simulation results and validate this algorithm on Khepera robots.