Abstraction-based formal synthesis with a symbolic control barrier function is useful for obtaining a finite-state safe controller for an infinite system with sporadic disturbances. In the case of multiple mobile robots sharing a common workspace. a controller ensuring arrival to destinations without any collisions is obtained with the symbolic control barrier function. despite the ex... https://www.spidertattooz.com/Dystopian-Wars-Empire-Starter-Set-Faction-Battlefleet/