10 papers
Certifiable Safe Model-Based Reinforcement Learning with Control-Affine Dynamics Approximation
Hao Zhou, Yanze Zhang, Cameron Reid +1
Safe model-based reinforcement learning (RL) often bridges control-theoretic analysis and RL for robots to safely explore (partially) unknown system dynamics while deriving control…
Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs
Hao Liu, Yupeng Yang, Yanze Zhang +1
In multi-robot systems, maintaining persistent communication graph connectivity is often overly restrictive, especially when robots have limited communication ranges but operate in…
Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations
Siwon Jo, Yanze Zhang, Yupeng Yang +1
Safe navigation often relies on well-defined conditions based on the shape of robots and obstacles, and can be challenging when they have irregular geometries. While Control Barrie…
Digital Guardians: The Past and The Future of Cyber-Physical Resilience
Saurabh Bagchi, Hyunseung Kim, Tarek Abdelzaher +20
Resilience in cyber-physical systems (CPS) is the fundamental ability to maintain safety and critical functionality despite adverse "perturbations," which includes security attacks…
Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation
Joonkyung Kim, Yanze Zhang, Wenhao Luo +1
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assu…
Courteous MPC for Autonomous Driving with CBF-inspired Risk Assessment
Yanze Zhang, Yiwei Lyu, Sude E. Demir +4
With more autonomous vehicles (AVs) sharing roadways with human-driven vehicles (HVs), ensuring safe and courteous maneuvers that respect HVs' behavior becomes increasingly importa…