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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.16280 |
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Table of Contents:
- This letter explores the implementation of a safe control law for systems of dynamically coupled cooperating agents. Under a CBF-based collaborative safety framework, we examine how the maximum safety capability for a given agent, which is computed using a collaborative safety condition, influences safety requests made to neighbors. We provide conditions under which neighbors may be resilient to non-compliance of neighbors to safety requests, and compute an upper bound for the total amount of non-compliance an agent is resilient to, given its 1-hop neighborhood state and knowledge of the network dynamics. We then illustrate our results via simulation on a networked susceptible-infected-susceptible (SIS) epidemic model.