Investigate using Control Barrier Functions (CBFs) to guarantee that robots
always have enough power to get to a charge station/the nest for long running
tasks. The theory on these is pretty heavy, and I'm not sure if I can
incorporate these into a not reactive controller, but I MIGHT be able to by
using a force which grows VERY quickly to pull the robot back to the nest once
their battery gets near a certain threshold.
Alternatively, use robot estimates of how long it will take to go from their
current position to the nearest station via past history.
Investigate using Control Barrier Functions (CBFs) to guarantee that robots always have enough power to get to a charge station/the nest for long running tasks. The theory on these is pretty heavy, and I'm not sure if I can incorporate these into a not reactive controller, but I MIGHT be able to by using a force which grows VERY quickly to pull the robot back to the nest once their battery gets near a certain threshold.
Alternatively, use robot estimates of how long it will take to go from their current position to the nearest station via past history.
Tony Chen's method.
Related to #696,#319.
From Ames2019.