相关论文: parallelcbf: A composable safety-filter and audita…

Internet of Things (IoT) consists of a large number of devices connected through a network, which exchange a high volume of data, thereby posing new security, privacy, and trust issues. One way to address these issues is ensuring data…

Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced order Model (RoM), and track the resulting safe behavior on…

Guaranteeing the safety of nonlinear systems with bounded inputs remains a key challenge in safe autonomy. Backup control barrier functions (bCBFs) provide a powerful mechanism for constructing controlled invariant sets by propagating…

Reinforcement learning (RL) has become a pivotal technology in the post-training phase of large language models (LLMs). Traditional task-colocated RL frameworks suffer from significant scalability bottlenecks, while task-separated RL…

This paper introduces differentiable higher-order control barrier functions (CBF) that are end-to-end trainable together with learning systems. CBFs are usually overly conservative, while guaranteeing safety. Here, we address their…

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree…

This letter introduces attack-resilient Control Lyapunov Functions (AR-CLFs) and attack-resilient Control Barrier Functions (AR-CBFs) for nonlinear control-affine systems subject to control-input false data injection attacks (FDIA)…

Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…

We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…

Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup…

A predictive control barrier function (PCBF) based safety filter is a modular framework to verify safety of a control input by predicting a future trajectory. The approach relies on the solution of two optimization problems, first computing…

Blockchain-enabled federated learning (BCFL) addresses fundamental challenges of trust, privacy, and coordination in collaborative AI systems. This chapter provides comprehensive architectural analysis of BCFL systems through a systematic…

Quantum Federated Learning (QFL) merges privacy-preserving federation with quantum computing gains, yet its resilience to adversarial noise is unknown. We first show that QFL is as fragile as centralized quantum learning. We propose Robust…

Federated Learning (FL) has become a practical and widely adopted distributed learning paradigm. However, the lack of a comprehensive and standardized solution covering diverse use cases makes it challenging to use in practice. In addition,…

Federated learning (FL) is an emerging distributed machine learning paradigm that protects privacy and tackles the problem of isolated data islands. At present, there are two main communication strategies of FL: synchronous FL and…

Programming assistants powered by large language models have improved dramatically, yet existing benchmarks still evaluate them in narrow code-generation settings. Recent efforts such as InfiBench and StackEval rely on Stack Overflow…

Ensuring safe exploration in high-dimensional systems with unknown dynamics remains a significant challenge. Existing safe reinforcement learning methods often provide safety guarantees only in expectation, which can still lead to safety…

In this work, we combine {Model Predictive Control} (MPC) and Control Barrier Function (CBF) design {methods} to create a hierarchical control law for simultaneous lane-keeping (LK) and obstacle avoidance (OA): at the low level, MPC…

Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…

This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…