![[TASE] Safety-Critical Multi-Agent Flocking via Motion-Aware Control Barrier Functions](https://i.ytimg.com/vi/nlTR3_F28ms/mqdefault.jpg)
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Last Updated: October 1, 2026
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Authors: Haoze Dong, Meng Guo, Chengyi He and Zhongkui Li Code: github.com/HauserDong/HomoMPC.git. Each arrow represents the position and direction of an Theta* for geometric path planning. ORCA for path following with collision avoidance. Ad-hoc deadlock detection mechanism. In this video, the plot is updated in every movement cycle of the Python Implementation of Reciprocal Velocity Obstacle (RVO) for Matlab simulation of 100 node each represented a dynamic This video shows an experimental validation of rigidity-based kinematic translational maneuvering control of
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