Distributed realizations of coupled safety filters

Develop recursively feasible distributed implementations of the coupled multi-quadrotor HOCBF safety optimization and characterize whether safety-filter-induced undesired equilibria can emerge.

Background

The navigation law is decentralized, but the paper retains an aggregated quadratic program because pairwise HOCBF constraints couple agents through shared thrust variables and because constraint effectiveness depends on the relative geometry and thrust directions. Although distributed CBF-constrained optimization methods are cited, the paper does not develop a distributed counterpart for this bounded-thrust, multi-constraint setting. It explicitly leaves both recursive feasibility of distributed implementations and the possible emergence of safety-filter-induced undesired equilibria unresolved.