The paper presents a method to infer safety constraints from observed safety-filtered actions and couples it with decentralized planning to ensure safety in multi-agent coordination when activation distances are large.
Efficient iterative linear-quadratic approximations for nonlinear multi- player general-sum differential games
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Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination
The paper presents a method to infer safety constraints from observed safety-filtered actions and couples it with decentralized planning to ensure safety in multi-agent coordination when activation distances are large.