Related papers: A Modular Safety Filter for Safety-Certified Cyber…
Cyber-physical systems (CPS) are required to operate safely under fault and malicious attacks. The simplex architecture and the recently proposed cyber resilient architectures, e.g., Byzantine fault tolerant++ (BFT++), provide safety for…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
The vast majority of today's critical infrastructure is supported by numerous feedback control loops and an attack on these control loops can have disastrous consequences. This is a major concern since modern control systems are becoming…
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning and embodied physical action. These challenges require safety…
Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced order Model (RoM), and track the resulting safe behavior on…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
We address the problem of detecting and mitigating the effect of malicious attacks to the sensors of a linear dynamical system. We develop a novel, efficient algorithm that uses a Satisfiability-Modulo-Theory approach to isolate the…
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…
Grid-forming (GFM) converters face significant challenges in limiting current during transient grid events while preserving their grid-forming behavior. This paper offers an elegant solution to the problem with a priori guarantees,…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…
This paper develops a smooth safety-filtering framework for nonlinear control-affine systems under limited perception. Classical Control Barrier Function (CBF) filters assume global availability of the safety function - its value and…
Modern smart grid systems are heavily dependent on Information and Communication Technology, and this dependency makes them prone to cyberattacks. The occurrence of a cyberattack has increased in recent years resulting in substantial damage…
In this paper a novel set-theoretic control framework for Networked Constrained Cyber-Physical Systems is presented. By resorting to set-theoretic ideas and the physical watermarking concept, an anomaly detector module and a control…
The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding…