Safe Distributed Motion Planning

Distributed motion planning for multi-agent systems with safety guarantees.

Multi-agent systems are useful for diverse industries and domains, as they can extend the capability of single-agent systems. To develop autonomous multi-agent systems, motion planning remains a challenge. Centralized solutions can solve for safe and even optimal motions for multiple agents, but they suffer as the number of agents grow, becoming intractable. Distributed solutions can help to overcome this issue, decoupling the complexity of the problem. Nevertheless, it is important to not sacrifice safety of the system for the sake of efficiency. How can we guarantee safe performance, while still achieving a certain level of performance?

2026

  1. MagLevADMM-CBF.gif
    Multi-Agent Motion Planning on Industrial Magnetic Levitation Platforms: A Hybrid ADMM-HOCBF approach
    Bavo Tistaert, Stan Servaes, Alejandro Gonzalez-Garcia, and 4 more authors
    European Journal of Control, 2026
    Special Issue on ECC 2026
    DOI Video
  2. admm-cbf.gif
    Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
    Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao, and 4 more authors
    arXiv preprint arXiv:2607.20352, 2026
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