research/698-cbfs-battery-management-models

[jharwell]

• 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 research/696-optimal-foraging-controller-family #696,research/319-energy-aware-swarms #319.

From Ames2019.