{"id":"https://openalex.org/W7101441130","doi":"https://doi.org/10.48550/arxiv.2510.21546","title":"Auction-Based Responsibility Allocation for Scalable Decentralized Safety Filters in Cooperative Multi-Agent Collision Avoidance","display_name":"Auction-Based Responsibility Allocation for Scalable Decentralized Safety Filters in Cooperative Multi-Agent Collision Avoidance","publication_year":2025,"publication_date":"2025-10-24","ids":{"openalex":"https://openalex.org/W7101441130","doi":"https://doi.org/10.48550/arxiv.2510.21546"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2510.21546","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.21546","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2510.21546","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Autenrieb, Johannes","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Autenrieb, Johannes","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Spiller, Mark","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Spiller, Mark","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10794","display_name":"Islamic Studies and History","score":0.26759999990463257,"subfield":{"id":"https://openalex.org/subfields/3320","display_name":"Political Science and International Relations"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10794","display_name":"Islamic Studies and History","score":0.26759999990463257,"subfield":{"id":"https://openalex.org/subfields/3320","display_name":"Political Science and International Relations"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13634","display_name":"Middle East and Rwanda Conflicts","score":0.03180000185966492,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13995","display_name":"Globalization and political ideologies","score":0.021400000900030136,"subfield":{"id":"https://openalex.org/subfields/3320","display_name":"Political Science and International Relations"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.722000002861023},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.6765999794006348},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5340999960899353},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.49709999561309814},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4584999978542328},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4510999917984009},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.4510999917984009},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44929999113082886}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.722000002861023},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.6765999794006348},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5953999757766724},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5340999960899353},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.49709999561309814},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.48840001225471497},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4584999978542328},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4510999917984009},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.4510999917984009},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44929999113082886},{"id":"https://openalex.org/C2779777834","wikidata":"https://www.wikidata.org/wiki/Q4202277","display_name":"Enforcement","level":2,"score":0.428600013256073},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41040000319480896},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.39579999446868896},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3142000138759613},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2989000082015991},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2687999904155731},{"id":"https://openalex.org/C527821871","wikidata":"https://www.wikidata.org/wiki/Q228502","display_name":"Access control","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2510.21546","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.21546","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2510.21546","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.21546","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5710095167160034}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,114],"scalable":[4],"decentralized":[5,23],"safety":[6,28,96],"filter":[7],"for":[8],"multi-agent":[9],"systems":[10],"based":[11,83],"on":[12,84],"high-order":[13],"control":[14,86],"barrier":[15],"functions":[16],"(HOCBFs)":[17],"and":[18,35,59,102,110,119],"auction-based":[19,73],"responsibility":[20,92],"allocation.":[21],"While":[22],"HOCBF":[24],"formulations":[25],"ensure":[26],"pairwise":[27,52],"under":[29],"input":[30],"bounds,":[31],"they":[32],"face":[33],"feasibility":[34],"scalability":[36],"challenges":[37],"as":[38],"the":[39,55],"number":[40,50],"of":[41,51,57,116],"agents":[42],"grows.":[43],"Each":[44],"agent":[45],"must":[46],"evaluate":[47],"an":[48,72],"increasing":[49],"constraints,":[53],"raising":[54],"risk":[56],"infeasibility":[58],"making":[60],"it":[61],"difficult":[62],"to":[63],"meet":[64],"real-time":[65],"requirements.":[66],"To":[67],"address":[68],"this,":[69],"we":[70],"introduce":[71],"allocation":[74],"scheme":[75],"that":[76],"distributes":[77],"constraint":[78],"enforcement":[79],"asymmetrically":[80],"among":[81],"neighbors":[82],"local":[85],"effort":[87],"estimates.":[88],"The":[89],"resulting":[90],"directed":[91],"graph":[93],"guarantees":[94],"full":[95],"coverage":[97],"while":[98],"reducing":[99],"redundant":[100],"constraints":[101],"per-agent":[103],"computational":[104],"load.":[105],"Simulation":[106],"results":[107],"confirm":[108],"safe":[109],"efficient":[111],"coordination":[112],"across":[113],"range":[115],"network":[117],"sizes":[118],"interaction":[120],"densities.":[121]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-28T00:00:00"}
