Risk-Aware Decentralized Safe Control via Dynamic Responsibility Allocation (Student Abstract)


  • Yiwei Lyu Carnegie Mellon University
  • Wenhao Luo University of North Carolina at Charlotte
  • John M. Dolan Carnegie Mellon University




Safe Control, Risk-aware Control, Control Barrier Function


In this work, we present a novel risk-aware decentralized Control Barrier Function (CBF)-based controller for multi-agent systems. The proposed decentralized controller is composed based on pairwise agent responsibility shares (a percentage), calculated from the risk evaluation of each individual agent faces in a multi-agent interaction environment. With our proposed CBF-inspired risk evaluation framework, the responsibility portions between pairwise agents are dynamically updated based on the relative risk they face. Our method allows agents with lower risk to enjoy a higher level of freedom in terms of a wider action space, and the agents exposed to higher risk are constrained more tightly on action spaces, and are therefore forced to proceed with caution.




How to Cite

Lyu, Y., Luo, W., & Dolan, J. M. (2023). Risk-Aware Decentralized Safe Control via Dynamic Responsibility Allocation (Student Abstract). Proceedings of the AAAI Conference on Artificial Intelligence, 37(13), 16276-16277. https://doi.org/10.1609/aaai.v37i13.26998