Collision-Free 3D Flocking Using the Distributed Simplex Architecture

The Distributed Simplex Architecture (DSA) extends the Simplex control architecture of Sha et al. to provide runtime safety assurance for multi-agent systems under distributed control. In this paper, we show how DSA can be used to ensure collision-free 3D flocking behavior, such that agents avoid colliding with each other and with cuboid-shaped obstacles.