Related papers: Fixed-Time Convergent Control Barrier Functions fo…
In this paper we focus on the problem of decomposing a global Signal Temporal Logic formula (STL) assigned to a multi-agent system to local STL tasks when the team of agents is a-priori decomposed to disjoint sub-teams. The predicate…
Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
This paper develops a robust fixed time optimization framework for constrained problems that guarantees exact constraint satisfaction and convergence to KKT points within fixed time , independent of initial conditions. The approach treats…
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically…
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication…
This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent…
Thermostatically controlled loads (TCLs) can provide ancillary services to the power network by aiding existing frequency control mechanisms. TCLs are, however, characterized by an intrinsic limit cycle behavior which raises the risk that…
Urban traffic congestion, particularly at intersections, significantly affects travel time, fuel consumption, and emissions. Traditional fixed-time signal control systems often lack the adaptability to effectively manage dynamic traffic…
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right time robustness of signal temporal logic specifications by…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and…
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible…
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks, especially High-Order CBFs (HOCBFs), effectively enforce…
We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…