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We propose Kernel Predictive Control (KPC), a learning-based predictive control strategy that enjoys deterministic guarantees of safety. Noise-corrupted samples of the unknown system dynamics are used to learn several models through the…
Mobile power sources (MPSs) have been gradually deployed in microgrids as critical resources to coordinate with repair crews (RCs) towards resilience enhancement owing to their flexibility and mobility in handling the complex coupled…
We consider the Conflict Resolution Problem in the context of a multiple-access system in which several stations can transmit their messages simultaneously to the channel. We assume that there are n stations and that at most k<= n stations…
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…
Reconfigurable intelligent surface (RIS) has been regarded as a promising technology since it has ability to create the favorable channel conditions. This paper investigates the secure communications of RIS assisted non-orthogonal multiple…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Reinforcement Learning (RL) has recently impressed the world with stunning results in various applications. While the potential of RL is now well-established, many critical aspects still need to be tackled, including safety and stability…
We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…
A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
Distributed integrated sensing and communication (D-ISAC) enables multiple spatially distributed nodes to cooperatively perform sensing and communication. However, achieving coherent cooperation across distributed nodes is challenging due…
Multi-Agent Reinforcement Learning (MARL) has emerged as a foundational approach for addressing diverse, intelligent control tasks in various scenarios like the Internet of Vehicles, Internet of Things, and Unmanned Aerial Vehicles.…
Task-oriented semantic communications (TSC) enhance radio resource efficiency by transmitting task-relevant semantic information. However, current research often overlooks the inherent semantic distinctions among encoded features. Due to…
This paper investigates reconfigurable intelligent surface (RIS)-assisted secure multiuser communication systems subject to hardware impairments (HIs). We jointly optimize the beamforming vectors at the base station (BS) and the phase…
Communicating systems comprise diverse software components across networks. To ensure their robustness, modern programming languages such as Rust provide both strongly typed channels, whose usage is guaranteed to be affine (at most once),…
Optimal control strategies are often combined with safety certificates to ensure both performance and safety in safety-critical systems. A prominent example is combining Model Predictive Control (MPC) with Control Barrier Functions (CBF).…
Modern engineering systems, such as autonomous vehicles, flexible robotics, and intelligent aerospace platforms, require controllers that are robust to uncertainties, adaptive to environmental changes, and safety-aware under real-time…
We develop a new lower bound for k-set agreement in synchronous message-passing systems connected by an arbitrary directed communication network, where up to t processes may crash. Our result thus generalizes the t/k+1 lower bound for…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…