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Autonomous multi-agent systems are increasingly being deployed inenvironments where winds and ocean currents have a significant influence.Recent work has developed control policies for single agents that leverageflows to achieve their objectives in dynamic environments. However, inmulti-agent systems, these flows can cause agents to collide or drift apart andlose direct inter-agent communications, especially when agents have lowpropulsion capabilities. To address these challenges, we propose a hierarchicalmulti-agent control approach that allows arbitrary single-agent performancepolicies that are unaware of other agents to be used in multi-agent systemswhile ensuring safe operation. We first develop a safety controller usingpotential functions, solely dedicated to avoiding collisions and maintaininginter-agent communication. Next, we design a low-interference safe interaction(LISIC) policy that trades off the performance policy and the safety control toensure safe and performant operation. Specifically, when the agents are at anappropriate distance, LISIC prioritizes the performance policy while smoothlyincreasing the safety controller when necessary. We prove that under mildassumptions on the flows experienced by the agents, our approach can guaranteesafety. Additionally, we demonstrate the effectiveness of our method inrealistic settings through an extensive empirical analysis with simulations offleets of underactuated autonomous surface vehicles operating in dynamic oceancurrents where these assumptions do not always hold.

Safe Connectivity Maintenance of Underactuated Multi-Agent Networks in Dynamic Oceanic Environments