A reconstructed CBF based on distributed state estimates and a prescribed performance adaptive parameter allows a QP-based controller to guarantee safety in MAS with uncontrollable agents.
Composite learning a daptive safety critical control with application to adaptive cruis e of intelligent vehicles,
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Distributed Safety Critical Control among Uncontrollable Agents Using Reconstructed Control Barrier Functions
A reconstructed CBF based on distributed state estimates and a prescribed performance adaptive parameter allows a QP-based controller to guarantee safety in MAS with uncontrollable agents.