相关论文: Learning Safe Control for Multi-Robot Systems: Met…

Amidst the growing demand for implementing advanced control and decision-making algorithms|to enhance the reliability, resilience, and stability of power systems|arises a crucial concern regarding the safety of employing machine learning…

Model-based reinforcement learning (RL) has emerged as a promising tool for developing controllers for real world systems (e.g., robotics, autonomous driving, etc.). However, real systems often have constraints imposed on their state space…

Large Language Models (LLMs)-based Multi-Agent Systems (MAS) exhibit remarkable problem-solving and task planning capabilities across diverse domains due to their specialized agentic roles and collaborative interactions. However, this also…

Robotics is becoming more and more ubiquitous, but the pressure to bring systems to market occasionally goes at the cost of neglecting security mechanisms during the development, deployment or while in production. As a result, contemporary…

Learning enabled autonomous systems provide increased capabilities compared to traditional systems. However, the complexity of and probabilistic nature in the underlying methods enabling such capabilities present challenges for current…

The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

Multi-agent systems (MAS) are widely prevalent and crucially important in numerous real-world applications, where multiple agents must make decisions to achieve their objectives in a shared environment. Despite their ubiquity, the…

Generating safe behaviors for autonomous systems is important as they continue to be deployed in the real world, especially around people. In this work, we focus on developing a novel safe controller for systems where there are multiple…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

It is important to have multi-agent robotic system specifications that ensure correctness properties of safety and liveness. As these systems have concurrency, and often have dynamic environment, the formal specification and verification of…

Resilience describes a system's ability to function under disturbances and threats. Many critical infrastructures, including smart grids and transportation networks, are large-scale complex systems consisting of many interdependent…

Autonomous vehicles rely on machine learning to solve challenging tasks in perception and motion planning. However, automotive software safety standards have not fully evolved to address the challenges of machine learning safety such as…

The increasing use of machine-learning (ML) enabled systems in critical tasks fuels the quest for novel verification and validation techniques yet grounded in accepted system assurance principles. In traditional system development,…

Addressing complex cooperative tasks in safety-critical environments poses significant challenges for multi-agent systems, especially under conditions of partial observability. We focus on a dynamic network bridging task, where agents must…

To provide safety guarantees for learning-based control systems, recent work has developed formal verification methods to apply after training ends. However, if the trained policy does not meet the specifications, or there is conservatism…

The increasing use of autonomous and semi-autonomous agents in society has made it crucial to validate their safety. However, the complex scenarios in which they are used may make formal verification impossible. To address this challenge,…

This paper presents a defense framework for enhancing the safety of large language model (LLM) empowered multi-agent systems (MAS) in safety-critical domains such as aerospace. We apply randomized smoothing, a statistical robustness…

In this study, a new ensemble approach for classifiers is introduced. A verification method for better error elimination is developed through the integration of multiple classifiers. A multi-agent system comprised of multiple classifiers is…

Multiagent Systems (MASs) involve different characteristics, such as autonomy, asynchronous and social features, which make these systems more difficult to understand. Thus, there is a lack of procedures guaranteeing that multiagent systems…