相关论文: Nonlinear Model Predictive Control Framework For C…

Koopman-based learning methods can potentially be practical and powerful tools for dynamical robotic systems. However, common methods to construct Koopman representations seek to learn lifted linear models that cannot capture nonlinear…

We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then…

This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent…

Moving Target Defense (MTD) has emerged as a proactive and dynamic framework to counteract evolving cyber threats. Traditional MTD approaches often rely on assumptions about the attackers knowledge and behavior. However, real-world…

Ensuring robust safety alignment is crucial for Large Language Models (LLMs), yet existing defenses often lag behind evolving adversarial attacks due to their \textbf{reliance on static, pre-collected data distributions}. In this paper, we…

Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…

This paper focuses on the trajectory tracking control problem for an articulated unmanned ground vehicle. We propose and compare two approaches in terms of performance and computational complexity. The first uses a nonlinear mathematical…

Moving target defense has emerged as a critical paradigm of protecting a vulnerable system against persistent and stealthy attacks. To protect a system, a defender proactively changes the system configurations to limit the exposure of…

Moving Target Defense (MTD) is an emerging game-changing defense strategy in cybersecurity with the goal of strengthening defenders and conversely puzzling adversaries in a network environment. The successful deployment of an MTD system can…

In the prior literature on multi-agent area defense games, the assignments of the defenders to the attackers are done based on a cost metric associated only with the interception of the attackers. In contrast to that, this paper presents an…

Nonlinear model predictive control (NMPC) has gained widespread use in many applications. Its formulation traditionally involves repetitively solving a nonlinear constrained optimization problem online. In this paper, we investigate NMPC…

In this paper we consider a target-guarding differential game where the defender must protect a linearly translating line-segment by intercepting an attacker who tries to reach it. In contrast to common target-guarding problems, we assume…

In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened…

Online optimal control of quadrupedal robots would enable them to plan their movement in novel scenarios. Linear Model Predictive Control (LMPC) has emerged as a practical approach for real-time control. In LMPC, an optimization problem…

Temporal action detection (TAD) is a challenging task which aims to temporally localize and recognize the human action in untrimmed videos. Current mainstream one-stage TAD approaches localize and classify action proposals relying on…

We introduce Learning-Augmented Control (LAC), an approach that integrates untrusted machine learning predictions into the control of constrained, nonlinear dynamical systems. LAC is designed to achieve the "best-of-both-worlds" guarantees,…

In response to the rapidly evolving nature of adversarial attacks against visual classifiers, numerous defenses have been proposed to generalize against as many known attacks as possible. However, designing a defense method that generalizes…

Deep neural networks have been proven to be vulnerable to adversarial examples and various methods have been proposed to defend against adversarial attacks for natural language processing tasks. However, previous defense methods have…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…

This work investigates the problem of multi-agents trajectory prediction. Prior approaches lack of capability of capturing fine-grained dependencies among coordinated agents. In this paper, we propose a spatial-temporal trajectory…