Review for NeurIPS paper: Multi-Robot Collision Avoidance under Uncertainty with Probabilistic Safety Barrier Certificates

Weaknesses: While the methodology is overall quite sound, I am unsure about two main points: (1) The overall approach is to gradually reduce the various forms of variability in the problem. So, for instance, we start with a chance constraint formulation which point-wise and pair-wise delineates the concerns of collision-avoidance. Then, we have a specific protocol for turning the problem into a decentralised form, etc. All this limits the expressivity of the overall framework. So, for instance, if the overall constraint were not just collision avoidance - say, we had a max restriction on numbers of agents allowed within a volume (timely, as I write this review!)