A two-time-scale dynamic implementation enables locally computable approximations of networked control barrier function safety filters with explicit bounds on trajectory mismatch and safety degradation.
Distributed safe nav- igation of multi-agent systems using control barrier function-based controllers,
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Local Safety Filters for Networked Systems via Two-Time-Scale Design
A two-time-scale dynamic implementation enables locally computable approximations of networked control barrier function safety filters with explicit bounds on trajectory mismatch and safety degradation.