Related papers: A Distributed Simplex Architecture for Multi-Agent…
Autonomous driving systems have achieved significant advances, and full autonomy within defined operational design domains near practical deployment. Expanding these domains requires addressing safety assurance under diverse conditions.…
Dynamic spectrum access (DSA) is regarded as an effective and efficient technology to share radio spectrum among different networks. As a secondary user (SU), a DSA device will face two critical problems: avoiding causing harmful…
Learning Enabled Components (LEC) have greatly assisted cyber-physical systems in achieving higher levels of autonomy. However, LEC's susceptibility to dynamic and uncertain operating conditions is a critical challenge for the safety of…
In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
In recent years, advances in underwater networking and multi-agent reinforcement learning (MARL) have significantly expanded multi-autonomous underwater vehicle (AUV) applications in marine exploration and target tracking. However, current…
This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…
A movable antennas (MAs)-enabled secure multiuser transmission framework is developed to enhance physical-layer security. Novel expressions are derived to characterize the achievable sum secrecy rate based on the secure channel coding…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
In this paper, we deal with risk evaluation and risk-averse optimization of complex distributed systems with general risk functionals. We postulate a novel set of axioms for the functionals evaluating the total risk of the system. We derive…
This paper proposes a novel extension of the Simplex architecture with model switching and model learning to achieve safe velocity regulation of self-driving vehicles in dynamic and unforeseen environments. To guarantee the reliability of…
In cloud-native systems, Kubernetes clusters with interdependent services often face challenges to their operational resilience due to poor workload management issues such as resource blocking, bottlenecks, or continuous pod crashes. These…
Existing paradigms for ensuring AI safety, such as guardrail models and alignment training, often compromise either inference efficiency or development flexibility. We introduce Disentangled Safety Adapters (DSA), a novel framework…
This paper presents a new method for achieving dynamic consensus in linear discrete-time homogeneous multi-agent systems (MAS) with marginally stable or unstable dynamics. The guarantee of consensus in this setting involves a set of…
Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…
In this letter, we investigate a dynamic reconfigurable distributed antenna and reflection surface (RDARS)-driven secure communication system, where the working mode of the RDARS can be flexibly configured. We aim to maximize the secrecy…
Decentralized control schemes are increasingly favored in various domains that involve multi-agent systems due to the need for computational efficiency as well as general applicability to large-scale systems. However, in the absence of an…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
The topic of risk prevention and emergency response has become a key social and political concern. One approach to address this challenge is to develop Decision Support Systems (DSS) that can help emergency planners and responders to detect…
In this paper we propose a novel consensus protocol for discrete-time multi-agent systems (MAS), which solves the dynamic consensus problem on the max value, i.e., the dynamic max-consensus problem. In the dynamic max-consensus problem to…