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arXiv · 2609.33852

Higher-Order Mean-Field Control Barrier Functions

Levon Nurbekyan·Samy Wu Fung
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Abstract

Mean-field control barrier functions (MF-CBFs) enforce swarm safety through constraints on the agents' distribution. Previous formulations, including applications to stochastic coverage and shepherding, use first-order differential inequalities. These cannot directly enforce constraints whose barrier functions yield control-free first derivatives. Thus, we develop the theory of higher-order MF-CBFs, which ensures the positivity of the barrier functionals through higher-order differential inequalities, as in their finite-dimensional analogs. More specifically, we introduce the notion of relative degree for mean-field safety functionals and develop an analytic framework for computing their higher-order derivatives. Moreover, for practical examples of cross-correlation and self-correlation functionals, we show that repeated differentiation along mean-field dynamics is structure-preserving and reduces to kernel recursions. As an illustration, we apply higher-order MF-CBFs to double-integrator swarm tracking and avoidance problems, where position-only constraints lead to MF-CBFs of relative degree two.

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Levon Nurbekyan, Samy Wu Fung. 2026-09-27. Higher-Order Mean-Field Control Barrier Functions. https://arxiv.org/abs/2609.33852

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