Conflict-Aware Safety Layer (CASL): Feasible Safety Control Under Constraint Conflict

We introduce a Conflict-Aware Safety Layer (CASL)for control systems subject to conflicting safety constraints. Control Barrier Functions (CBFs) ensure safety via forward invariance but may become infeasible in multi-agent or densely constrained settings. The proposed approach introduces structured constraint relaxation and a geometric conflict metric that quantifies incompatibility between constraints. We establish explicit bounds on constraint violation as a function of conflict and derive practical safety guarantees. Additionally, the closed-loop system satisfies an input-to-state stability (ISS)-type bound with respect to conflict. Simulation results demonstrate that the method maintains feasibility while ensuring bounded safety degradation consistent with theoretical predictions. This work is a preprint and has not undergone peer review.