4 papers · 1 filter
Collaborative Altruistic Safety in Coupled Multi-Agent Systems
Brooks A. Butler, Xiao Tan, Aaron D. Ames +1
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of al…
Resilience to Non-Compliance in Coupled Cooperating Systems
Brooks A. Butler, Philip E. Paré
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 ho…
Collaborative Safe Formation Control for Coupled Multi-Agent Systems
Brooks A. Butler, Chi Ho Leung, Philip E. Paré
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles…
Collaborative Safety-Critical Control for Dynamically Coupled Networked Systems
Brooks A. Butler, Philip E. Paré
As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relations…