Devin Grady, Provably Safe Multi-Robot Cooperation with Kinodynamic Constraints

Many heuristics have been proposed in robotics to ensure safety such that two robots rarely collide, however, in some fields a probabilistic guarantee is not enough. In this talk I will explore some of the recent work done in cooperative robotics algorithms to prove global system safety. One of the key features of this work is that it allows the robots to have kinodynamic constraints. We are working specifically with car-like robots that model the dynamics of cars, so cannot move freely in all directions and have momentum.