4 papers
Auction-Based Responsibility Allocation for Scalable Decentralized Safety Filters in Cooperative Multi-Agent Collision Avoidance
Johannes Autenrieb, Mark Spiller
This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocatio…
Decentralized CBF-based Safety Filters for Collision Avoidance of Cooperative Missile Systems with Input Constraints
Johannes Autenrieb, Mark Spiller
This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (…
Robust Adaptive Sliding-Mode Control for Damaged Fixed-Wing UAVs
Mark Spiller, Lennart Kracke, Johannes Autenrieb
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilot…
Combinatorial Safety-Critical Coordination of Multi-Agent Systems via Mixed-Integer Responsibility Allocation and Control Barrier Functions
Johannes Autenrieb, Mark Spiller, Hyo-Sang Shin +1
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide forma…