As multi-agent systems become more wide-spread and versatile, the ability to satisfy
multiple system-level constraints grows increasingly important. In applications ranging from …

Robots are entering an age of ubiquity, and to operate effectively, these systems must
typically satisfy a series of constraints (eg, collision avoidance, obeying speed limits …

Compositional barrier functions are proposed in this paper to systematically compose
multiple objectives for teams of mobile robots. The objectives are first encoded as barrier …

Robots operating in real world settings must navigate and maintain safety while interacting
with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions …

A multi-agent partially observable Markov decision process (MPOMDP) is a modeling
paradigm used for high-level planning of heterogeneous autonomous agents subject to …

This paper provides an introduction and overview of recent work on control barrier functions
and their use to verify and enforce safety properties in the context of (optimization based) …

This paper presents a formal framework for collision avoidance in multi-robot systems,
wherein an existing controller is modified in a minimally invasive fashion to ensure safety …

Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for
the safety-critical control of autonomous systems. These approaches encode safety through …

In this article, we propose a framework for the control of mobile robots subject to temporal
logic specifications using barrier functions. Complex task specifications can be conveniently …

We approach the problem of stabilizing a dynamical system while optimizing a cost and
satisfying safety constraints and control limitations. For (nonlinear) affine control systems …