Recent Articles and Multimedia
Paper Title: Collaborative Safety-Critical Control in Coupled Networked Systems
Authors: Brooks A. Butler and Philip E. Paré
This paper presents a framework for ensuring safety in interconnected systems by linking individual agent safety requirements with neighborhood dynamics. Using collaborative control barrier functions, the authors develop a decentralized algorithm that provides guaranteed safe control actions for agents in networked settings.
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An example of when node i ∈ [n] is constrained by two neighbors, where ui ∈ R2. The constrained control space for agent i, Ui, is shaded green, with the feasibly safe control actions for neighbors 1 and 2 shaded in blue and red, respectively. Both U1i and U2i are individually feasible, but jointly infeasible, with the set of feasible, safe control actions for neighbors 1 and 2 shown in the purple-shaded region. The compromise-seeking action ui ∈ R2 is marked on the boundary of Ui, which is the closest action in Ui to the feasible, safe control actions for both neighbors U1i ∩U2i. The set of all viable compromise-seeking actions ∂Ui is shown by the yellow line and the current set of compromise-seeking actions ∂Uτi is shown by the pink line.