Related papers: Decentralized Safe and Scalable Multi-Agent Contro…
With multi-agent systems increasingly deployed autonomously at scale in complex environments, ensuring safety of the data-driven policies is critical. Control Barrier Functions have emerged as an effective tool for enforcing safety…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that ensure…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…
We address the challenge of safe control in decentralized multi-agent robotic settings, where agents use uncertain black-box models to predict other agents' trajectories. We use the recently proposed conformal decision theory to adapt the…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-art methods leverage Control Barrier Functions (CBFs) to…
For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whose runtimes often scale exponentially with team size, and…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relationship of node-level safety definitions for individual agents…
Decentralized learning is an efficient emerging paradigm for boosting the computing capability of multiple bounded computing agents. In the big data era, performing inference within the distributed and federated learning (DL and FL)…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space. We consider the case where the aerial and ground operations…
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically…