相关论文: A Distributed Framework for Data-Driven Safe Coord…
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions and straightforwardly handles safety constraints with…
Distributed, scalable, and safe control of large-scale multi-agent systems is a challenging problem. In this paper, we design a distributed framework for safe multi-agent control in large-scale environments with obstacles, where a large…
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 letter proposes a distributed 3D leader-follower formation (3D-LFF) control framework for multi-UAV systems that achieves formation tracking while enforcing perception safety constraints. Maintaining safe, vision-based 3D-LFF is…
We consider the problem of designing distributed collision-avoidance multi-agent control in large-scale environments with potentially moving obstacles, where a large number of agents are required to maintain safety using only local…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Ensuring safety in the sense of constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-based setting by modifying unsafe…
Ensuring safety in multi-agent systems is a significant challenge, particularly in settings where centralized coordination is impractical. In this work, we propose a novel risk-sensitive safety filter for discrete-time multi-agent systems…
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…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…
In this work, we propose a continuous-time distributed optimization algorithm with guaranteed zero coupling constraint violation and apply it to safe distributed control in the presence of multiple control barrier functions (CBF). The…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
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…
Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all…
This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…