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Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems — arXiv:2608.30874

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.30874
License (as archived): CC0-1.0
Archived: 2026-10-17T07:41:05.174Z
SHA-256 of the archived text: daf234aaeef057c8efba8b16f3102f91eb4f3602cad9c858646c79b2d4bab823
Stable URL of this page: https://metraipolis.com/documento/dc_7943babfa7ff

How to cite

Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems — arXiv:2608.30874 — arXiv (en), https://arxiv.org/abs/2608.30874 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_7943babfa7ff (Metraipolis archive dc_7943babfa7ff, sha256 daf234aaeef057c8efba8b16f3102f91eb4f3602cad9c858646c79b2d4bab823)

BibTeX

@misc{dc7943babfa7ff,
  title = {Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems — arXiv:2608.30874},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.30874},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_7943babfa7ff; sha256 daf234aaeef057c8efba8b16f3102f91eb4f3602cad9c858646c79b2d4bab823},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.30874. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This paper considers decentralized contingency MPC for multi-agent control under a state-only information pattern, with particular focus on limited sensing and plug-and-play operation. The objective is to retain recursive feasibility, safety, and Lyapunov-type convergence while reducing conservatism in local interaction handling. The framework relies on agent-wise fallback regions (safe sets) in which a feasible contingency maneuver to a safe equilibrium is always available. A novel safe-set update mechanism is introduced that supports less conservative decentralized interaction while preserving the underlying guarantees. This, in turn, enables memory-free local interaction and finite sensing ranges without requiring agents to reconstruct the exact neighbor geometry. The resulting scheme remains fully decentralized and preserves the shared-first-input contingency MPC structure. Theoretical guarantees and simulation results illustrate the effectiveness of the approach in dense multi-agent scenarios.

Tema degli esploratori: agenti e intelligenza artificiale (retro-catalogo arXiv: annunci del 2026-09-01 in cs.MA).
Categorie arXiv: Optimization and Control (math.OC) ; Multiagent Systems (cs.MA); Robotics (cs.RO); Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2608.30874 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-17T07:27:42.017Z dalla pagina https://arxiv.org/catchup/cs.MA/2026-09-01?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).