Research paper
Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters
The proposed certificate separates safety-constraint demand from available actuation and identifies conflicting robot interactions. A linear program allocates responsibility between agents. Closed-loop simulations compare infeasible steps and safety violations; feasibility diagnosis does not eliminate every failure in the reported experiments.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters
- Publisher
- arXiv
- Authors
- Sah, Chandan Kumar, Keshavan, Jishnu
- DOI
- 10.48550/arxiv.2609.14935
- First archive posting
- 2026-09-14
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
The proposed certificate separates safety-constraint demand from available actuation and identifies conflicting robot interactions. A linear program allocates responsibility between agents. Closed-loop simulations compare infeasible steps and safety violations; feasibility diagnosis does not eliminate every failure in the reported experiments.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2026-09-14, abstract reviewed in v1. Publisher dates are separate.