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cs.RO2025
Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL
Songyuan Zhang, Oswin So, Mitchell Black +2
Tasks for multi-robot systems often require the robots to collaborate and complete a team goal while maintaining safety. This problem is usually formalized as a constrained Markov…
cs.RO2025
Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control
Songyuan Zhang, Oswin So, Mitchell Black +1
Control policies that can achieve high task performance and satisfy safety constraints are desirable for any system, including multi-agent systems (MAS). One promising technique fo…