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This paper presents a novel approach for achieving safe stochastic optimalcontrol in networked multi-agent systems (MASs). The proposed methodincorporates barrier states (BaSs) into the system dynamics to embed safetyconstraints. To accomplish this, the networked MAS is factorized into multiplesubsystems, and each one is augmented with BaSs for the central agent. Theoptimal control law is obtained by solving the joint Hamilton-Jacobi-Bellman(HJB) equation on the augmented subsystem, which guarantees safety via theboundedness of the BaSs. The BaS-based optimal control technique yields safecontrol actions while maintaining optimality. The safe optimal control solutionis approximated using path integrals. To validate the effectiveness of theproposed approach, numerical simulations are conducted on a cooperative UAVteam in two different scenarios.

Safety Embedded Stochastic Optimal Control of Networked Multi-Agent Systems via Barrier States