Collaborative Safety-Critical Control for Networked Dynamic Systems with Coupled Dynamics

This paper presents a framework for collaborative safety-critical control of networked dynamic systems with coupled dynamics, where the safety of each node depends on the states of its 1-hop neighbors. The authors define a collaborative node-level control barrier function (cNCBF) that incorporates the 1-hop neighborhood dynamics into the evaluation of node-level safety, and construct a distributed algorithm that enables neighboring nodes to collaboratively ensure safety.