A new collaborative safety framework for multi-agent systems uses control barrier functions and Hamilton's rule to let agents trade off their own safety for higher-priority neighbors.
A continuous-time violation-free multi-agent optimization algorithm and its applications to safe distributed control,
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Collaborative Altruistic Safety in Coupled Multi-Agent Systems
A new collaborative safety framework for multi-agent systems uses control barrier functions and Hamilton's rule to let agents trade off their own safety for higher-priority neighbors.