Safety-Filtered Distributed Koopman-MPC

arXiv:2609.27463 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Benchmark — 2× in this paper · explained in 2 episodes
• Multi-Agent System — 2× in this paper · explained in 6 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Frozen model — 1× in this paper · explained in 3 episodes

Sources

• Distributed Koopman Operator Learning for Perception and Safe Navigation
• ADMM-Based Distributed MPC with Control Barrier Functions for Safe Multi-Robot Quadrupedal Locomotion

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