相关论文: Graph-Based Controller Synthesis for Safety-Constr…

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…

Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…

We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…

This paper studies the resilience of second-order networked dynamical systems to strategic attacks. We discuss two widely used control laws, which have applications in power networks and formation control of autonomous agents. In the first…

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…

We consider the problem of tracking an adversarial state sequence in a linear dynamical system subject to adversarial disturbances and loss functions, generalizing earlier settings in the literature. To this end, we develop three…

In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track car model which includes tire models and longitudinal load transfer. Using an explicit formulation of the holonomic constraints…

Dual control denotes a class of control problems where the parameters governing the system are imperfectly known. The challenge is to find the optimal balance between probing, i.e. exciting the system to understand it more, and caution,…

Recent studies show that well-devised perturbations on graph structures or node features can mislead trained Graph Neural Network (GNN) models. However, these methods often overlook practical assumptions, over-rely on heuristics, or…

Controlling network systems has become a problem of paramount importance. In this paper, we consider a distributed linear-quadratic problem and propose the use of graph neural networks (GNNs) to parametrize and design a distributed…

Cyber-physical systems are conducting increasingly complex tasks, which are often modeled using formal languages such as temporal logic. The system's ability to perform the required tasks can be curtailed by malicious adversaries that mount…

For optimal control problems on finite graphs in continuous time, the dynamic programming principle leads to value functions characterized by systems of nonlinear ordinary differential equations. In this paper, we consider the case of…

Ensuring reliable performance in situations outside the Operational Design Domain (ODD) remains a primary challenge in devising resilient autonomous systems. We explore this challenge by introducing an approach for adapting probabilistic…

There is considerable evidence that deep neural networks are vulnerable to adversarial perturbations applied directly to their digital inputs. However, it remains an open question whether this translates to vulnerabilities in real systems.…

Recent developments have made autonomous vehicles (AVs) closer to hitting our roads. However, their security is still a major concern among drivers as well as manufacturers. Although some work has been done to identify threats and possible…

We consider the problem of synthesizing safe-by-design control strategies for semi-autonomous systems. Our aim is to address situations when safety cannot be guaranteed solely by the autonomous, controllable part of the system and a certain…

Increasing attention to autonomous passenger vehicles has also attracted interest in an autonomous racing series. Because of this, platforms such as Roborace and the Indy Autonomous Challenge are currently evolving. Electric racecars face…

Extensive research on graph-based dynamics and control of multi-agent systems has successfully demonstrated control of robotic swarms, where each robot is perceived as an independent agent virtually connected by a network topology. The…

This paper considers optimal traffic signal control in smart cities, which has been taken as a complex networked system control problem. Given the interacting dynamics among traffic lights and road networks, attaining controller adaptivity…

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…