{
  "abstract": "This paper considers decentralized contingency MPC for multi-agent control under a state-only information pattern, with particular focus on limited sensing and plug-and-play operation. The objective is to retain recursive feasibility, safety, and Lyapunov-type convergence while reducing conservatism in local interaction handling. The framework relies on agent-wise fallback regions (safe sets) in which a feasible contingency maneuver to a safe equilibrium is always available. A novel safe-set update mechanism is introduced that supports less conservative decentralized interaction while preserving the underlying guarantees. This, in turn, enables memory-free local interaction and finite sensing ranges without requiring agents to reconstruct the exact neighbor geometry. The resulting scheme remains fully decentralized and preserves the shared-first-input contingency MPC structure. Theoretical guarantees and simulation results illustrate the effectiveness of the approach in dense multi-agent scenarios.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2608.30874",
  "author_total": 2,
  "authors": [
    {
      "name": "Max Studt"
    },
    {
      "name": "Georg Schildbach"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/etxmy877njjwx.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2608.30874",
  "fulltext_url": null,
  "id": "etxmy877njjwx",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2608.30874",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.MA"
    ],
    [
      "arxiv",
      "cs.RO"
    ],
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Advanced Control Systems Optimization"
    ]
  ],
  "openalex": "W7204861862",
  "pdf_url": "https://arxiv.org/pdf/2608.30874",
  "pmcid": null,
  "pmid": null,
  "published": "2026-08-31",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/etxmy877njjwx.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:17:48Z",
      "native_id": "2608.30874",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2608.30874"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems",
  "title_text": "Provably Safe Decentralized Contingency MPC under State-Only Information and Limited Sensing for Nonlinear Multi-agent Systems",
  "type": "preprint",
  "updated_at": "2026-10-30T12:17:48Z",
  "url": "https://research.draconitic.com/paper/etxmy877njjwx",
  "venue": "arXiv",
  "versions": []
}