Related papers: Engagement-Zone-Aware Input-Constrained Guidance f…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acting on the input of the function to be optimized, which is…
Adversarial environments require agents to navigate a key strategic trade-off: acquiring information enhances situational awareness, but may simultaneously expose them to threats. To investigate this tension, we formulate a…
Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
Assessing drivers' interaction capabilities is crucial for understanding human driving behavior and enhancing the interactive abilities of autonomous vehicles. In scenarios involving strong interaction, existing metrics focused on…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
We present a guidance by repulsion model based on a driver-evader interaction where the driver, assumed to be faster than the evader, follows the evader but cannot be arbitrarily close to it, and the evader tries to move away from the…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In contrast to previous studies, the attackers herein are assumed…
State-of-the-art driver-assist systems have failed to effectively mitigate driver inattention and had minimal impacts on the ever-growing number of road mishaps (e.g. life loss, physical injuries due to accidents caused by various factors…
Safety-critical autonomy in adversarial settings demands more than Lyapunov stability of tracking error signals. An agent executing a goal-directed trajectory is intrinsically legible to a passive observer running online Bayesian inference,…
We consider the problem of extracting safe environments and controllers for reach-avoid objectives for systems with known state and control spaces, but unknown dynamics. In a given environment, a common approach is to synthesize a…
This paper presents an input-output feedback linearization (IOL)-based guidance law to ensure interception in a pursuer-evader engagement scenario. A point-mass dynamic model for both the pursuer and the evader is considered. An IOL…
This paper studies the problem of defending (1D and 2D) boundaries against a large number of continuous attacks with a heterogeneous group of defenders. The defender team has perfect information of the attack events within some time (finite…
This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…
Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…
This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…
The rapid expansion of Internet use has increased system exposure to cyber threats, with advanced persistent threats (APTs) being especially challenging due to their stealth, prolonged duration, and multi-stage attacks targeting high-value…
Reach-avoid differential games play an important role in collision avoidance, motion planning and control of aircrafts, and related applications. The central problem is the computation of the set of initial states from which the ego player…