Related papers: Adversarial Robustness for Matrix Control Barrier …
This paper addresses the integration of additional information sources into a Bayesian optimization framework while ensuring that safety constraints are satisfied. The interdependencies between these information sources are modeled using an…
In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This paper investigates the problems of…
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…
Stochastic multi-agent systems are a central modeling framework for autonomous controllers, communication protocols, and cyber-physical infrastructures. In many such systems, however, transition probabilities are only estimated from data…
We study discrete time linear constrained switching systems with additive disturbances, in which the switching may be on the system matrices, the disturbance sets, the state constraint sets or a combination of the above. In our general…
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or…
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 addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, finding valid control invariant sets of dynamical systems under…
This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the system's states. We present a neural model predictive control…
Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…
Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. This paper studies non-fragility of…
Growing at a fast pace, modern autonomous systems will soon be deployed at scale, opening up the possibility for cooperative multi-agent systems. Sharing information and distributing workloads allow autonomous agents to better perform tasks…
This paper studies robustness of MIMO control systems with parametric uncertainties, and establishes a lower dimensional robust stability criterion. For control systems with interval transfer matrices, we identify the minimal testing set…
In this paper, we derive closed-form expressions for implicit controlled invariant sets for discrete-time controllable linear systems with measurable disturbances. In particular, a disturbance-reactive (or disturbance feedback) controller…
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.…
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…