Related papers: Safe Controller Synthesis Using Lyapunov-based Bar…
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
A new self-synchronizing stream cipher (SSSC) is proposed based on one-way and nearest neighbor coupled integer maps. Some ideas of spatiotemporal chaos synchronization and chaotic cryptography are applied in this new SSSC system. Several…
This paper considers the synthesis of optimal safe controllers based on density functions. We present an algorithm for robust constrained optimal control synthesis using the duality relationship between the density function and the value…
We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an…
Complex, interconnected cyber-physical systems (CPS) are increasingly prevalent in domains such as power systems. Cyber-resilient architectures have been proposed to recover compromised cyber components of CPS. Recent works have studied…
We present two related anytime algorithms for control of nonlinear systems when the processing resources available are time-varying. The basic idea is to calculate tentative control input sequences for as many time steps into the future as…
This article proposes a new safety concept: backup plan safety. The backup plan safety is defined as the ability to complete one of the alternative missions in the case of primary mission abortion. To incorporate this new safety concept in…
The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…
In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability…
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain…
The recent surge of blockchain systems has renewed the interest in traditional Byzantine fault-tolerant consensus protocols. Many such consensus protocols have a primary-backup design in which an assigned replica, the primary, is…
Automatic controller tuning is attractive for robotics and mechatronic systems whose dynamics are difficult to model accurately, but direct black-box optimization can be unsafe because each query is executed on the physical plant. Existing…
As the complexity of control systems increases, safety becomes an increasingly important property since safety violations can damage the plant and put the system operator in danger. When the system dynamics are unknown, safety-critical…
We present SySCoRe, a MATLAB toolbox that synthesizes controllers for stochastic continuous-state systems to satisfy temporal logic specifications. Starting from a system description and a co-safe temporal logic specification, SySCoRe…
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…
We propose a new defense mechanism against undetected infiltration into controllers in cyber-physical systems. To this end, we cautiously design the outputs of the sensors that monitor the state of the system. Different from the defense…