Generalization of Safe Optimal Control Actions on Networked Multi-Agent Systems

Understand

We propose a unified framework to fast generate a safe optimal control action for a new task from existing controllers on Multi-Agent Systems (MASs).

• The control action composition is achieved by taking a weighted mixture of the existing controllers according to the contribution of each component task.
• Instead of sophisticatedly tuning the cost parameters and other hyper-parameters for safe and reliable behavior in the optimal control framework, the safety of each single task solution is guaranteed using the control barrier functions (CBFs) for high-degree stochastic systems, which constrains the system state within a known safe operation region where it originates from.
• Linearity of CBF constraints in control enables the control action composition.