CA-HCBF creates a unified acceleration-level safety framework for mixed holonomic and nonholonomic robots and allocates avoidance duties proportionally to each robot's capability using a support-function metric and clipping.
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Safety barrier certificates for collisions-free multirobot systems
11 Pith papers cite this work. Polarity classification is still indexing.
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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.
Presents a distributed data-driven zeroing control barrier function (3D-ZCBF) framework that derives explicit safety conditions from data to preserve communication network connectivity in leader-follower multi-agent systems.
REACT is a two-layer control system for wheeled mobile robots combining centralized environment-adaptive formation generation with distributed joint spatio-temporal trajectory planning for continuous navigation in complex settings.
FORMULA integrates MPC with CLFs and neural network CBFs for distributed safe formation control in multi-robot systems.
A distributed optimization controller uses truncation functions and two-time-scale auxiliary variables to guarantee collision avoidance, connectivity preservation, and target convergence for multi-agent systems under time-varying communication topologies.
SACBFs guarantee continuous-time safety and finite-time reach-and-remain under zero-order-hold control by estimating inter-sample barrier evolution with Taylor upper bounds and adding a relaxed variant for multiple constraints.
A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.
A CBF-augmented NMPC framework for two quadrupeds models the robot-payload system as a DAE and enforces collision avoidance in hardware tests under uncertainty.
Decentralized density control for multi-robot systems using PDE-constrained optimization ensures global safety from local constraints with reduced computation and communication needs.