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Graph-Based Safe Reinforcement Learning for Multi-Agent Systems with Time-Varying Topology

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

This paper presents a graph-based safe multi-agent reinforcement learning (MARL) framework for cooperative navigation with time-varying topology. To address the critical challenge of ensuring safety in environments with sensing constraints, a safety-decoupled mechanism is introduced through a Control Barrier-Like Function (CBLF) action screening layer. This mechanism bridges the gap between discrete LiDAR perception and continuous safety constraints, ensuring that physical safety constraints are strictly satisfied regardless of the learning progress. Building upon this safety foundation, a uni

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