HJB-GNN uses constrained HJB analytical solutions to derive graph-dependent Lagrange multipliers for jointly learning GNN-parameterized control barrier functions, distributed navigation policies, and value functions in safe multi-agent navigation.
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Safe Multi-Agent Navigation via Constrained HJB-Informed Learning
HJB-GNN uses constrained HJB analytical solutions to derive graph-dependent Lagrange multipliers for jointly learning GNN-parameterized control barrier functions, distributed navigation policies, and value functions in safe multi-agent navigation.