Robust Perimeter Defense using Control Barrier Functions

In this paper, a control law for multi-robot perimeter defense is proposed, whereby a team of robots are to move along the perimeter of a region in such a way as to prevent intrusions. The control law is based on control barrier functions, and guarantees the capture or interception of an intruder as it crosses the defended perimeter. The proposed control law can be adjusted to make the defenders reach a suitable defense position before the arrival of the intruder, providing robustness against parametric uncertainties or unmodeled dynamics that could delay the defender and jeopardize the defense. The theoretical results are verified experimentally.