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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.05762 |
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| _version_ | 1866908868827676672 |
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| author | Autenrieb, Johannes Spiller, Mark Shin, Hyo-Sang Cho, Namhoon |
| author_facet | Autenrieb, Johannes Spiller, Mark Shin, Hyo-Sang Cho, Namhoon |
| contents | This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically rely on ego-centric safety filtering and may lead to redundant constraint enforcement and conservative collective behavior. To address this limitation, we introduce a combinatorial coordination layer formulated as a mixed-integer linear program (MILP) that assigns collision-avoidance responsibilities among agents. By explicitly distributing enforcement tasks, redundant reactions are eliminated and computational complexity is reduced. Each agent subsequently solves a reduced local quadratic program enforcing only its assigned constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_05762 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Combinatorial Safety-Critical Coordination of Multi-Agent Systems via Mixed-Integer Responsibility Allocation and Control Barrier Functions Autenrieb, Johannes Spiller, Mark Shin, Hyo-Sang Cho, Namhoon Systems and Control This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically rely on ego-centric safety filtering and may lead to redundant constraint enforcement and conservative collective behavior. To address this limitation, we introduce a combinatorial coordination layer formulated as a mixed-integer linear program (MILP) that assigns collision-avoidance responsibilities among agents. By explicitly distributing enforcement tasks, redundant reactions are eliminated and computational complexity is reduced. Each agent subsequently solves a reduced local quadratic program enforcing only its assigned constraints. |
| title | Combinatorial Safety-Critical Coordination of Multi-Agent Systems via Mixed-Integer Responsibility Allocation and Control Barrier Functions |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.05762 |