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Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to guarantee safety in multi-agent environments, but they assume perfect knowledge of both the robot dynamics and other agents' dynamics. While knowledge of the robot's dynamics might be reasonably well known, the heterogeneity of agents in real-world environmentsarXiv:2004.05273v2 fatcat:lqmwx54fd5hprkdihv5gf7s5qy