Related papers: Resilience to Non-Compliance in Coupled Cooperatin…
Motion planning failures during autonomous navigation often occur when safety constraints are either too conservative, leading to deadlocks, or too liberal, resulting in collisions. To improve robustness, a robot must dynamically adapt its…
This paper considers the resilient multi-dimensional consensus problem in networked systems, where some of the agents might be malicious (or faulty). We propose a multi-dimensional consensus algorithm, where at each time step each healthy…
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers…
This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Adversarial attacks during training can strongly influence the performance of multi-agent reinforcement learning algorithms. It is, thus, highly desirable to augment existing algorithms such that the impact of adversarial attacks on…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
The system of connected vehicle to vehicle and vehicle to infrastructure can be considered as a wireless cyberphysical system of systems (Wireless CPSoS), which will be provided with the high ability of adaptive control on system of…
The advancements in connected and autonomous vehicles in these times demand the availability of tools providing the agents with the capability to be aware and predict their own states and context dynamics. This article presents a novel…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
We consider the problem of designing distributed collision-avoidance multi-agent control in large-scale environments with potentially moving obstacles, where a large number of agents are required to maintain safety using only local…
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…
Ensuring safe behavior is critical for modern autonomous cyber-physical systems. Control barrier functions (CBFs) are widely used to enforce safety in autonomous systems, yet their placement within networked control architectures remains…
The current intrusion detection systems have a number of problems that limit their configurability, scalability and efficiency. There have been some propositions about distributed architectures based on multiple independent agents working…
Learning-based control has recently shown great efficacy in performing complex tasks for various applications. However, to deploy it in real systems, it is of vital importance to guarantee the system will stay safe. Control Barrier…
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…
The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control…
The networked combat system-of-system (CSOS) is the trend of combat development with the innovation of technology. The achievement of combat effectiveness requires CSOS to have a good ability to deal with external interference. Here we…
This paper addresses learning safe output feedback control laws from partial observations of expert demonstrations. We assume that a model of the system dynamics and a state estimator are available along with corresponding error bounds,…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…