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Centralized CBF Controller
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Classroom Contents
Why Would We Want a Multi-Agent System Unstable
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- 1 Introduction
- 2 Objective - unstable feedback loop? ord
- 3 Why CBFs? Short answer - convex QP
- 4 CBF based safety filter
- 5 Barrier margin for robustness
- 6 Robust Control Barrier Functions
- 7 Turning obstacles into barriers
- 8 CBF based obstacle avoidance
- 9 Traffic flow and gridlocks
- 10 Avoiding interacting obstacles
- 11 Decentralized multi-agent controllers
- 12 Centralized CBF Controller
- 13 Co-optimization and CCS
- 14 PCCA algorithm guarantees
- 15 5 agents Monte Carlo Simulations
- 16 Comparison of CBF based methods
- 17 Deadlock resolution
- 18 Cause of gridlocks - stability?
- 19 DR: simulation perspective
- 20 Centralized and PCCA equilibrium analysis
- 21 PCCA: simulation perspective
- 22 Properties of CBF algorithms
- 23 Some MA unstable modes are undesirable
- 24 Lower barrier bandwidth may improve flow
- 25 Conclusion
- 26 Predictor-Corrector for Coll. Avoidance
