HF-CLF-CBF-QP — Safety-Critical Formation Tracking
Research · Publication
Safety-critical formation tracking asks how a multi-robot controller should respond when performance objectives and safety constraints become difficult to satisfy together.
Problem
Formation tracking requires coordinated motion while respecting safety and physical constraints. A quadratic-program controller must manage conflicts between these requirements, including infeasible optimization problems.
Method and Contribution
Hierarchical Fallback CLF-CBF-QP combines control Lyapunov functions for tracking performance with high-order control barrier functions for safety and physical constraints. A three-stage fallback strategy prioritizes safety when constraints conflict.
Publication and Evaluation
Guang-Ze Yang and Zi-Jiang Yang. “Safety-Critical Formation Tracking Control of Multi-Robot Systems via CLF-CBF-QP.” 2025 International Conference on Advanced Mechatronic Systems (ICAMechS), pp. 78–83, 2025.
Consult the paper for the method's assumptions, evaluation, and results.
Public Materials
The public project repository currently contains a framework overview and a license. Implementation code is not yet available there; this page does not claim a publicly runnable reproduction.