Decentralized collision avoidance and global connectivity maintenance using nested control barrier functions

DOI10.1080/00207721.2025.2583240MaRDI QIDQ7315717zbMATH OpenFDO

Authors Pranjal Bhatia, Sayan Basu Roy, P. B. Sujit, Luis Mejias Alvarez, Aaron McFadyen

Publication date 18 August 2026

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2025.2583240

Mathematics Subject Classification ID

Decentralized systems (93A14) Multi-agent systems (93A16)

Cites work

• Decentralized connectivity maintenance for networked Lagrangian dynamical systems with collision avoidance
• Decentralized estimation and control of graph connectivity for mobile sensor networks
• Graph theoretic methods in multiagent networks
• Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers

Cited in

(1)

• Decentralized nested control barrier functions for simultaneous formation control, collision avoidance, and connectivity maintenance

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