Related papers: Resilience to Non-Compliance in Coupled Cooperatin…
As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relationship of node-level safety definitions for individual agents…
Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of altruism, we develop collaborative control barrier functions…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and…
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…
Ensuring safety in dynamic multi-agent systems is challenging due to limited information about the other agents. Control Barrier Functions (CBFs) are showing promise for safety assurance but current methods make strong assumptions about…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in…
This paper introduces a novel framework for simulating and analyzing how uncooperative behaviors can destabilize or collapse LLM-based multi-agent systems. Our framework includes two key components: (1) a game theory-based taxonomy of…
In this paper, we first address adverse effects of cyber-physical attacks on distributed synchronization of multi-agent systems, by providing conditions under which an attacker can destabilize the underlying network, as well as another set…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…
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…
In this work, we propose a continuous-time distributed optimization algorithm with guaranteed zero coupling constraint violation and apply it to safe distributed control in the presence of multiple control barrier functions (CBF). The…
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles. Multi-Agent Control Barrier Functions (CBF) have emerged as a computationally efficient tool to…
This paper presents an adversary detection mechanism and a resilient control framework for multi-agent systems under spatiotemporal constraints. Safety in multi-agent systems is typically addressed under the assumption that all agents…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
A natural way for cooperative tasking in multi-agent systems is through a top-down design by decomposing a global task into sub-tasks for each individual agent such that the accomplishments of these sub-tasks will guarantee the achievement…