相关论文: Information Control Barrier Functions: Preventing …

We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…

This paper presents a general framework for the design of linear controllers for linear systems subject to time-domain constraints. The design framework exploits sums-of-squares techniques to incorporate the time-domain constraints on…

Safety of stochastic dynamic systems in environments with dynamic obstacles is studied in this paper through the lens of stochastic barrier functions. We introduce both time-invariant and time-varying barrier certificates for discrete-time,…

Location management refers to the problem of updating and searching the current location of mobile nodes in a wireless network. To make it efficient, the sum of update costs of location database must be minimized. Previous work relying on…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…

We develop a new Location Verification System (LVS) focussed on network-based Intelligent Transport Systems and vehicular ad hoc networks. The algorithm we develop is based on an information-theoretic framework which uses the received…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

We propose a concept for authorisation using the location of a mobile device and the enforcement of location-based policies. Mobile devices enhanced by Trusted Computing capabilities operate an autonomous and secure location trigger and…

We present a convex optimization to reduce the impact of sensor falsification attacks in linear time invariant systems controlled by observer-based feedback. We accomplish this by finding optimal observer and controller gain matrices that…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

Next generation communication systems require accurate beam alignment to counteract the impairments that characterize propagation in high-frequency bands. The overhead of the pilot sequences required to select the best beam pair is…

This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the…

We consider the problem of estimating an RF-device's location based on observations, such as received signal strength, from a set of transmitters with known locations. We survey the literature on this problem, showing that previous authors…

We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…

This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…

Spectrum cartography constructs maps of metrics such as channel gain or received signal power across a geographic area of interest using spatially distributed sensor measurements. Applications of these maps include network planning,…

The demand for faster protection algorithms is growing due to the increasingly faster dynamics in the system. The majority of existing algorithms require empirically selected set-points, which may reduce sensitivity to internal faults and…