Demonstrates effective collision avoidance and connectivity in multi-agent systems, suggesting a solution for formation control.
As multi-agent systems are used more widely, it is essential to develop approaches that allow multiple system-level constraints to be satisfied simultaneously. Collision avoidance and global connectivity maintenance are two such system-level constraints that are crucial for the successful functioning of a multi-agent system (MAS). This paper proposes decentralized nested control barrier function (NCBF) as a solution for simultaneous collision avoidance and global connectivity maintenance while performing formation control. To satisfy multiple constraints together, multiple barrier functions need to be formulated. Using NCBF, hierarchical control barrier functions are defined, where the outermost layer corresponds to the CBF with the highest weight. By combining system-level constraints in a distributed fashion, agents are able to accomplish distributed formation control. The results are validated using mathematical analysis and simulation.
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Bhatia et al. (2026) studied this question.
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