Enforcing SE(2)xR equivariance in learned graph-based control barrier functions improves zero-shot safety and scalability of distributed multi-robot control.
Decentralized non- communicating multiagent collision avoidance with deep reinforce- ment learning,
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Deep Equivariant Multi-Agent Control Barrier Functions
Enforcing SE(2)xR equivariance in learned graph-based control barrier functions improves zero-shot safety and scalability of distributed multi-robot control.