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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

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Amirsaeid Safari

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Preprint Sep 2026

Predicted-Flow Control Barrier Functions for Non-Control-Affine Systems

Control barrier functions (CBFs) enforce safety through conditions imposed pointwise in time without consideration of state evolution over a future horizon. Thus, CBF-based controls are typically myopic. Predicted-flow CBFs (P-CBFs) generalize CBFs from a function of the current state to a functional of the predicted f...

Amirsaeid Safari, Jesse B. Hoagg · 1 citation

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