123 citations · 672 across the 112 of their papers we have counts for
10 papers · 1 filter
A Fixed-Time Stable Adaptation Law for Safety-Critical Control under Parametric Uncertainty
Mitchell Black, Ehsan Arabi, Dimitra Panagou
We present a novel technique for solving the problem of safe control for a general class of nonlinear, control-affine systems subject to parametric model uncertainty. Invoking Lyap…
Adaptive Active-Passive Networked Multiagent Systems
Ehsan Arabi, Dimitra Panagou, Tansel Yucelen
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considere…
Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs
Vishnu S. Chipade, Dimitra Panagou
This article provides extensions to existing path-velocity decomposition based time optimal trajectory planning algorithm \cite{kant1986toward} to scenarios in which agents move in…
Multi-Swarm Herding: Protecting against Adversarial Swarms
Vishnu S. Chipade, Dimitra Panagou
This paper studies a defense approach against one or more swarms of adversarial agents. In our earlier work, we employ a closed formation (`StringNet') of defending agents (defende…
Herding an Adversarial Swarm in Three-dimensional Spaces
Weifan Zhang, Vishnu S. Chipade, Dimitra Panagou
This paper presents a defense approach to safeguard a protected area against an attack by a swarm of adversarial agents in three-dimensional (3D) space. We extend our 2D `StringNet…
Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach
James Usevitch, Kunal Garg, Dimitra Panagou
Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forw…
Characterization of Domain of Fixed-time Stability under Control Input Constraints
Kunal Garg, Dimitra Panagou
In this paper, we study the effect of control input constraints on the domain of attraction of an FxTS equilibrium point. We first present a new result on FxTS, where we allow a po…
A Quadratic Program based Control Synthesis under Spatiotemporal Constraints and Non-vanishing Disturbances
Mitchell Black, Kunal Garg, Dimitra Panagou
In this paper, we study the effect of non-vanishing disturbances on the stability of fixed-time stable (FxTS) systems. We present a new result on FxTS, which allows a positive term…
Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence Guarantees
Kunal Garg, Dimitra Panagou
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward…
Resilient Finite Time Consensus: A Discontinuous Systems Perspective
James Usevitch, Dimitra Panagou
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work pre…