Hybrid Safety Verification of Multi-Agent Systems using $ψ$-Weighted CBFs and PAC Guarantees
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866914053948964864 |
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| author | Margapuri, Venkat Kazanjian, Garik Kosaraju, Naren |
| author_facet | Margapuri, Venkat Kazanjian, Garik Kosaraju, Naren |
| contents | This study proposes a hybrid safety verification framework for closed-loop multi-agent systems under bounded stochastic disturbances. The proposed approach augments control barrier functions with a novel $ψ$-weighted formulation that encodes directional control alignment between agents into the safety constraints. Deterministic admissibility is combined with empirical validation via Monte Carlo rollouts, and a PAC-style guarantee is derived based on margin-aware safety violations to provide a probabilistic safety certificate. The results from the experiments conducted under different bounded stochastic disturbances validate the feasibility of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_20093 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Hybrid Safety Verification of Multi-Agent Systems using $ψ$-Weighted CBFs and PAC Guarantees Margapuri, Venkat Kazanjian, Garik Kosaraju, Naren Robotics This study proposes a hybrid safety verification framework for closed-loop multi-agent systems under bounded stochastic disturbances. The proposed approach augments control barrier functions with a novel $ψ$-weighted formulation that encodes directional control alignment between agents into the safety constraints. Deterministic admissibility is combined with empirical validation via Monte Carlo rollouts, and a PAC-style guarantee is derived based on margin-aware safety violations to provide a probabilistic safety certificate. The results from the experiments conducted under different bounded stochastic disturbances validate the feasibility of the proposed approach. |
| title | Hybrid Safety Verification of Multi-Agent Systems using $ψ$-Weighted CBFs and PAC Guarantees |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.20093 |