{"690225":{"#nid":"690225","#data":{"type":"event","title":"PhD Proposal by Johnathan Corbin","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u003C\/strong\u003E\u0026nbsp;Formulating Multi-Agent Safety-Critical Control as a Feasible Resource Allocation Problem\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate:\u0026nbsp;\u003C\/strong\u003EFriday May 15th, 2026\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime:\u0026nbsp;\u003C\/strong\u003E1:00pm - 2:00pm\u0026nbsp;ET\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation:\u0026nbsp;\u003C\/strong\u003EGuggenheim 244\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EVirtual:\u0026nbsp;\u003C\/strong\u003E\u0026nbsp;\u003Ca href=\u0022https:\/\/teams.microsoft.com\/meet\/295530221364067?p=XAsX2uMHAJ40THTLPb\u0022 target=\u0022_blank\u0022 title=\u0022Meeting join\u0022\u003Ehttps:\/\/teams.microsoft.com\/meet\/295530221364067?p=XAsX2uMHAJ40THTLPb\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EJohnathan Corbin\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics Ph.D. Student\u003C\/p\u003E\u003Cp\u003EDaniel Guggenheim School of Aerospace Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Jonathan Rogers (Advisor)\u003C\/p\u003E\u003Cp\u003EDaniel Guggenheim School of Aerospace Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Sarah H. Q. Li\u003C\/p\u003E\u003Cp\u003EDaniel Guggenheim School of Aerospace Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Anirban Mazumdar\u003C\/p\u003E\u003Cp\u003EGeorge W. Woodruff School of Mechanical Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Matthew Hale\u003C\/p\u003E\u003Cp\u003ESchool of Electrical and Computer Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Sean Wilson\u003C\/p\u003E\u003Cp\u003ERobotics and Autonomous Systems Division\u003C\/p\u003E\u003Cp\u003EGeorgia Tech Research Institute\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EIn heterogeneous multi-agent systems, ensuring safety requires two distinct decisions. The first is determining what corrective action is needed. The second is assigning which agents should take it. Standard control barrier function (CBF) formulations combine these into a single centralized quadratic program, distributing corrective effort by geometric proximity with no regard for agent capability, privacy, or accumulated burden. This can cause actuator-limited agents to be unable to maintain safety and makes it difficult to adjust how responsibility is allocated to agents.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EThis proposal reformulates multi-agent safety-critical control as a feasible resource allocation problem through a two-stage architecture. The first stage compresses multi-constraint safety into a single, dynamically feasible \u0022safety deficit\u0022 using integral augmentation, log-sum-exponential composition, and optimal-decay CBFs. The second stage introduces \u0022avoidance credit,\u0022 an allocable resource that decouples the physics of safety from the economics of effort distribution through a modular interface. The interface admits any allocation mechanism satisfying a small set of conditions, enabling properties such as agent privacy and long-horizon fairness. As long as the allocation satisfies these conditions, the system is guaranteed to maintain safety within the actuator limits of the agents.\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EFormulating Multi-Agent Safety-Critical Control as a Feasible Resource Allocation Problem\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Formulating Multi-Agent Safety-Critical Control as a Feasible Resource Allocation Problem"}],"uid":"27707","created_gmt":"2026-05-11 15:58:43","changed_gmt":"2026-05-11 15:59:22","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2026-05-15T13:00:00-04:00","event_time_end":"2026-05-15T14:00:00-04:00","event_time_end_last":"2026-05-15T14:00:00-04:00","gmt_time_start":"2026-05-15 17:00:00","gmt_time_end":"2026-05-15 18:00:00","gmt_time_end_last":"2026-05-15 18:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Guggenheim 244","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}