Multi-objective Compositions for Collision-Free Connectivity Maintenance   in Teams of Mobile Robots
  Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical operators. The advantage of this approach is that compositional barrier functions can provably guarantee the simultaneous satisfaction of all composed objectives. The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots. The resulting composite safety and connectivity barrier certificates are verified experimentally on a team of four mobile robots. 
Li Wang, Aaron D. Ames, Magnus Egerstedt
cs.RO math.OC