{"id":"https://openalex.org/W7135095100","doi":"https://doi.org/10.48550/arxiv.2603.10836","title":"Distributed Safety Critical Control among Uncontrollable Agents Using Reconstructed Control Barrier Functions","display_name":"Distributed Safety Critical Control among Uncontrollable Agents Using Reconstructed Control Barrier Functions","publication_year":2026,"publication_date":"2026-03-11","ids":{"openalex":"https://openalex.org/W7135095100","doi":"https://doi.org/10.48550/arxiv.2603.10836"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.10836","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10836","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.2603.10836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125989896","display_name":"Yuzhang Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Peng, Yuzhang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128829453","display_name":"Wei Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Wei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128853840","display_name":"Jiaqi Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Jiaqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128870479","display_name":"Mengze Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Mengze","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5125989896"],"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":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5327000021934509,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.5327000021934509,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.27129998803138733,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.07639999687671661,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6564000248908997},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6243000030517578},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5960000157356262},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5766000151634216},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.49070000648498535},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4893999993801117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4781000018119812},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.46070000529289246}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6564000248908997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517999768257141},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6243000030517578},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5960000157356262},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5766000151634216},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.49070000648498535},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4781000018119812},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.46070000529289246},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4496999979019165},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.445499986410141},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.382999986410141},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37389999628067017},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36730000376701355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36309999227523804},{"id":"https://openalex.org/C112714845","wikidata":"https://www.wikidata.org/wiki/Q1482001","display_name":"Distributed parameter system","level":3,"score":0.35510000586509705},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.3303000032901764},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.3125},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2581000030040741}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.10836","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10836","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.2603.10836","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10836","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,13,25,41,60,82,115,123,129,143,150,153,157,167],"distributed":[4,65,97,145],"safety":[5,151],"critical":[6],"control":[7,26,67,146],"for":[8],"multi-agent":[9],"systems":[10],"(MASs)":[11],"in":[12,32,156],"presence":[14],"of":[15,62,91,152,166],"uncontrollable":[16,162],"agents":[17,57,93],"with":[18],"uncertain":[19,158],"behaviors.":[20],"To":[21,69],"ensure":[22],"system":[23],"safety,":[24],"barrier":[27],"function":[28],"(CBF)":[29],"is":[30,39,77,85,106,119,170],"employed":[31],"this":[33,80,110],"paper.":[34],"However,":[35],"a":[36,63,72,96,101,134,173],"key":[37],"challenge":[38],"that":[40,113,142],"CBF":[42,75,84,117],"constraints":[43],"are":[44],"coupled":[45,83,125],"when":[46],"MASs":[47],"perform":[48],"collaborative":[49],"tasks,":[50],"which":[51],"depend":[52],"on":[53,128],"information":[54],"from":[55,95],"multiple":[56],"and":[58,140],"impede":[59],"design":[61,133],"fully":[64],"safe":[66],"scheme.":[68],"overcome":[70],"this,":[71],"novel":[73],"reconstructed":[74,86,116,130],"approach":[76],"proposed.":[78],"In":[79],"method,":[81],"by":[87],"leveraging":[88],"state":[89],"estimates":[90],"other":[92],"obtained":[94],"adaptive":[98,104],"observer.":[99],"Furthermore,":[100],"prescribed":[102],"performance":[103],"parameter":[105],"designed":[107],"to":[108,121],"modify":[109],"reconstruction,":[111],"ensuring":[112],"satisfying":[114],"constraint":[118],"sufficient":[120],"meet":[122],"original":[124],"one.":[126],"Based":[127],"CBF,":[131],"we":[132],"safety-critical":[135],"quadratic":[136],"programming":[137],"(QP)":[138],"controller":[139],"prove":[141],"proposed":[144,168],"scheme":[147],"rigorously":[148],"guarantees":[149],"MAS,":[154],"even":[155],"dynamic":[159],"environments":[160],"involving":[161],"agents.":[163],"The":[164],"effectiveness":[165],"method":[169],"illustrated":[171],"through":[172],"simulation.":[174]},"counts_by_year":[],"updated_date":"2026-04-15T05:59:14.812645","created_date":"2026-03-13T00:00:00"}