Related papers: Fixed-Time Convergent Control Barrier Functions fo…
Safe and efficient autonomous driving in dense traffic is fundamentally a decentralized multi-agent coordination problem, where interactions at conflict points such as merging and weaving must be resolved reliably under partial…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
Solving safety-critical control problem has widely adopted the Control Barrier Function (CBF) method. However, the existence of a CBF is only a sufficient condition for system safety. The recently proposed Taylor-Lagrange Control (TLC)…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first transform the STL requirements into set containment problems…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems. Leveraging a result from the stochastic level-crossing literature, we deviate from the martingale theory that…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
Assuring system stability is typically a major control design objective. In this paper, we present a system where instability provides a crucial benefit. We consider multi-agent collision avoidance using Control Barrier Functions (CBF) and…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
In this paper, a self-triggered scheme is proposed to optimally control the traffic flow of Connected and Automated Vehicles (CAVs) at conflict areas of a traffic network with the main aim of reducing the data exchange among CAVs in the…
In this paper, we introduce a class of future-focused control barrier functions (ff-CBF) aimed at improving traditionally myopic CBF based control design and study their efficacy in the context of an unsignaled four-way intersection…
Communication technologies enable coordination among connected and autonomous vehicles (CAVs). However, it remains unclear how to utilize shared information to improve the safety and efficiency of the CAV system in dynamic and complicated…
Control Barrier Functions (CBFs) aim to ensure safety by constraining the control input at each time step so that the system state remains within a desired safe region. This paper presents a framework for CBFs in stochastic systems in the…
Finding the optimal signal timing strategy is a difficult task for the problem of large-scale traffic signal control (TSC). Multi-Agent Reinforcement Learning (MARL) is a promising method to solve this problem. However, there is still room…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
This paper investigates the fixed-time consensus problem for a class of multi-agent systems with simple dynamics. Unlike the traditional way to realize fixed-time convergence, a novel strategy using the property of periodic functions is…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…