Decentralized CBF-based Safety Filters for Collision Avoidance of Cooperative Missile Systems with Input Constraints
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arXiv
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912968068825088 |
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| author | Autenrieb, Johannes Spiller, Mark |
| author_facet | Autenrieb, Johannes Spiller, Mark |
| contents | This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under bounded inputs and high-relative-degree dynamics. Each effector executes its nominal cooperative guidance command, while a local quadratic program (QP) modifies the input only when necessary. Event-triggered activation based on range and zero-effort miss (ZEM) criteria ensures scalability by restricting active constraints to relevant neighbors. To resolve feasibility issues from simultaneous constraints, a slack-variable relaxation scheme is introduced that prioritizes critical agents in a Pareto-optimal manner. Simulation results in many-on-many interception scenarios demonstrate that the proposed framework maintains collision-free operation with minimal deviation from nominal guidance, providing a computationally efficient and scalable solution for safety-critical multi-agent aerospace systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_06846 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Decentralized CBF-based Safety Filters for Collision Avoidance of Cooperative Missile Systems with Input Constraints Autenrieb, Johannes Spiller, Mark Systems and Control This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under bounded inputs and high-relative-degree dynamics. Each effector executes its nominal cooperative guidance command, while a local quadratic program (QP) modifies the input only when necessary. Event-triggered activation based on range and zero-effort miss (ZEM) criteria ensures scalability by restricting active constraints to relevant neighbors. To resolve feasibility issues from simultaneous constraints, a slack-variable relaxation scheme is introduced that prioritizes critical agents in a Pareto-optimal manner. Simulation results in many-on-many interception scenarios demonstrate that the proposed framework maintains collision-free operation with minimal deviation from nominal guidance, providing a computationally efficient and scalable solution for safety-critical multi-agent aerospace systems. |
| title | Decentralized CBF-based Safety Filters for Collision Avoidance of Cooperative Missile Systems with Input Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.06846 |