MA-SafeDiffuser: Safe Multi-Agent Planning with Diffusion Probabilistic Models
arXiv:2611.05524v1 Announce Type: new Abstract: We propose MA-SafeDiffuser, a multi-agent extension of SafeDiffuser that equips diffusion-based trajectory planners with finite-time diffusion invariance guarantees for joint-agent safety specifications. Building on the single-agent construction that embeds control barrier function (CBF) constraints into reverse-diffusion updates, we: (i) formalize joint safe sets as intersections of per-agent and pairwise barrier sets; (ii) derive centralized and decentralized (communication-aware) constrained denoising procedures with provable invariance under
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