# A Distributed Simplex Architecture for Multi-Agent Systems

arXiv: https://arxiv.org/abs/2012.10153 · HTML: https://mlsanity.com/paper/2012.10153/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Dec 2020.

## Built on by (most cited first, 2 of 2)

- [Neural Predictive Monitoring under Partial Observability](https://mlsanity.com/paper/2108.07134/) (2021)
- [A Barrier Certificate-based Simplex Architecture for Systems with Approximate and Hybrid Dynamics](https://mlsanity.com/paper/2202.09710/) (2022)

## Abstract (arXiv)

We present Distributed Simplex Architecture (DSA), a new runtime assurance technique that provides safety guarantees for multi-agent systems (MASs). DSA is inspired by the Simplex control architecture of Sha et al., but with some significant differences. The traditional Simplex approach is limited to single-agent systems or a MAS with a centralized control scheme. DSA addresses this limitation by extending the scope of Simplex to include MASs under distributed control. In DSA, each agent has a local instance of traditional Simplex such that the preservation of safety in the local instances implies safety for the entire MAS. We provide a proof of safety for DSA, and present experimental results for several case studies, including flocking with collision avoidance, safe navigation of ground rovers through way-points, and the safe operation of a microgrid.