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.
High-order barrier functions: Robustness, safety, and performance-critical control
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Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.
An online learning-enhanced high-order adaptive CBF with Neural ODEs maintains safety for a 38g nano quadrotor against 18km/h wind by adapting to time-varying perturbations on the fly.
citing papers explorer
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Collaborative Altruistic Safety in Coupled Multi-Agent Systems
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.