Abstract:Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single-and multi-agent systems. In the multiagent case, prior literature has considered scenarios where all agents cooperate to ensure that the corresponding set remains invariant. However, these works do not consider scenarios where a subset of the agents are behaving adversarially with the intent to violate safety bounds. In addition, prior results on multi-agent CBFs typically assume … Show more
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