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control barrier functions 1model predictive control 1multi-agent systems 1pursuit-evasion 1safety-critical control 1

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1 paper

eess.SY2026

Capture, Shield, or Neutralize: Engagement-Aware Pursuit-Evasion

Ananya Acharya, Trenton Goyette, Masoud Ataei +3

The paper presents a hierarchical control framework that combines an iterative minimax model predictive control (MPC) game with a control barrier function (CBF) safety filter to en…