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Cyber-physical systems (CPS) incorporate the complex and large-scale engineered systems behind critical infrastructure operations, such as water distribution networks, energy delivery systems, healthcare services, manufacturing systems, and…
Cyber-physical systems (CPS), in most instances, represent systems of systems with an informationally decentralized structure such as emerging mobility systems, networked control systems, sustainable manufacturing, smart power grids, power…
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…
Employing model predictive control to systems with unbounded, stochastic disturbances poses the challenge of guaranteeing safety, i.e., repeated feasibility and stability of the closed-loop system. Especially, there are no strict repeated…
Systematic design and verification of advanced control strategies for complex systems under uncertainty largely remains an open problem. Despite the promise of blackbox optimization methods for automated controller tuning, they generally…
Cyber-Physical Systems (CPS) allow us to manipulate objects in the physical world by providing a communication bridge between computation and actuation elements. In the current scheme of things, this sought-after control is marred by…
Full verification of learning-enabled cyber-physical systems (CPS) has long been intractable due to challenges including black-box components and complex real-world environments. Existing tools either provide formal guarantees for limited…
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…
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…
The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…
Cyber-physical systems (CPS) integrate sensing, computing, communication and actuation capabilities to monitor and control operations in the physical environment. A key requirement of such systems is the need to provide predictable…
The threat of attack faced by cyber-physical systems (CPSs), especially when they play a critical role in automating public infrastructure, has motivated research into a wide variety of attack defence mechanisms. Assessing their…
Cyber-physical systems (CPS) are required to satisfy safety constraints in various application domains such as robotics, industrial manufacturing systems, and power systems. Faults and cyber attacks have been shown to cause safety…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
In remote estimation of cyber-physical systems (CPSs), sensor measurements transmitted through network may be attacked by adversaries, leading to leakage risk of privacy (e.g., the system state), and/or failure of the remote estimator. To…
This paper presents the cyber-physcial model of a computer-mediated control system that is a seamless, fully synergistic integration of the physical system and the cyber system, which provides a systematic framework for synthesis of…
Cyber-physical systems (CPS), which integrate algorithmic control with physical processes, often consist of physically distributed components communicating over a network. A malfunctioning or compromised component in such a CPS can lead to…
Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure. Consequently, there is an impellent need to develop…
Complex, interconnected Cyber-physical Systems (CPS) are increasingly common in applications including smart grids and transportation. Ensuring safety of interconnected systems whose dynamics are coupled is challenging because the effects…
Cyber-Physical Systems (CPS) revolutionize various application domains with integration and interoperability of networking, computing systems, and mechanical devices. Due to its scale and variety, CPS faces a number of challenges and opens…