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In this paper, we introduce Risk-aware Weighted Buffered Voronoi tessellation, a variant of the Generalized Voronoi tessellation. Inherited from traditional Voronoi tessellation, safety guarantees in terms of collision avoidance are provided by partitioning the joint state space of the multi-agent system into individual cells to constrain each individual agent’s motion in a distributed manner. Different from existing Weighted Buffered Voronoi tessellations, our CBF-inspired Weighted Buffered Voronoi Cell (CBF-inspired WBVC) partition not only takes agent positional information into account, but also their motion information when determining the cell boundaries. Cell partitioning is conducted based on risk evaluation of the possibility to collide, in which Control Barrier Function is leveraged to capture the behavior of how the agents approach their safety boundaries in a model-based way. In other words, for any point in the …