29 citations · 75 across the 35 of their papers we have counts for
11 papers · 1 filter
Distributed Safety-Critical Control of Multi-Agent Systems with Time-Varying Communication Topologies
Shiyu Cheng, Luyao Niu, Bhaskar Ramasubramanian +2
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In p…
Swarm-STL: A Framework for Motion Planning in Large-Scale, Multi-Swarm Systems
Shiyu Cheng, Luyao Niu, Bhaskar Ramasubramanian +2
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agent…
Modeling and Designing Non-Pharmaceutical Interventions in Epidemics: A Submodular Approach
Shiyu Cheng, Luyao Niu, Bhaskar Ramasubramanian +2
This paper considers the problem of designing non-pharmaceutical intervention (NPI) strategies, such as masking and social distancing, to slow the spread of a viral epidemic. We fo…
Who is Responsible? Explaining Safety Violations in Multi-Agent Cyber-Physical Systems
Luyao Niu, Hongchao Zhang, Dinuka Sahabandu +3
Multi-agent cyber-physical systems are present in a variety of applications. Agent decision-making can be affected due to errors induced by uncertain, dynamic operating environment…
Safety-Critical Online Control with Adversarial Disturbances
Bhaskar Ramasubramanian, Baicen Xiao, Linda Bushnell +1
This paper studies the control of safety-critical dynamical systems in the presence of adversarial disturbances. We seek to synthesize state-feedback controllers to minimize a cost…
Privacy-Preserving Resilience of Cyber-Physical Systems to Adversaries
Bhaskar Ramasubramanian, Luyao Niu, Andrew Clark +2
A cyber-physical system (CPS) is expected to be resilient to more than one type of adversary. In this paper, we consider a CPS that has to satisfy a linear temporal logic (LTL) obj…
Secure Control in Partially Observable Environments to Satisfy LTL Specifications
Bhaskar Ramasubramanian, Luyao Niu, Andrew Clark +2
This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an ad…
Control Synthesis for Cyber-Physical Systems to Satisfy Metric Interval Temporal Logic Objectives under Timing and Actuator Attacks
Luyao Niu, Bhaskar Ramasubramanian, Andrew Clark +2
This paper studies the synthesis of controllers for cyber-physical systems (CPSs) that are required to carry out complex tasks that are time-sensitive, in the presence of an advers…
Linear Temporal Logic Satisfaction in Adversarial Environments using Secure Control Barrier Certificates
Bhaskar Ramasubramanian, Luyao Niu, Andrew Clark +2
This paper studies the satisfaction of a class of temporal properties for cyber-physical systems (CPSs) over a finite-time horizon in the presence of an adversary, in an environmen…
Secure Control under Partial Observability with Temporal Logic Constraints
Bhaskar Ramasubramanian, Andrew Clark, Linda Bushnell +1
This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an ad…
Notions of Centralized and Decentralized Opacity in Linear Systems
Bhaskar Ramasubramanian, Rance Cleaveland, Steven I. Marcus
We formulate notions of opacity for cyberphysical systems modeled as discrete-time linear time-invariant systems. A set of secret states is -ISO with respect to a set of nonsecr…