3 accepted papers
Safe navigation often relies on well-defined conditions based on the shape of robots and obstacles, and can be challenging when they have irregular geometries. While Control Barrier Functions (CBFs) offer an efficient mechanism to enforce safe set forward invariance, common shape surrogates (e.g., s…
Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit global coordinator, the decentralized control methods are often prone to deadlock - a state where the system reaches eq
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary "roundabouts" (circular reference paths). Each robot relies only