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This paper addresses safety-critical coordination for scalar agents whose distributed commands are implemented through constrained physical-input dynamics by proposing a networked Admissibility-Preserving Control (APC) architecture in which an Admissibility-Preserving Input Realization (APIR) governs physical inputs and a logarithmic barrier coordinate represents the safety corridor.
Contact-persistent full actuation reveals that traditional rank conditions may mislead UAV performance in physical interactions, emphasizing the critical role of residual authority in control.
Achieving safe consensus in multi-agent systems is possible even under stringent asymmetric actuator constraints and dynamic output safety requirements.
