123 citations · 495 across the 29 of their papers we have counts for
12 papers · 1 filter
An Observer-based Switching Algorithm for Safety under Sensor Denial-of-Service Attacks
Santiago Jimenez Leudo, Kunal Garg, Ricardo G. Sanfelice +1
The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where att…
Control Barrier Function based Attack-Recovery with Provable Guarantees
Kunal Garg, Ricardo G. Sanfelice, Alvaro A. Cardenas
This paper studies provable security guarantees for cyber-physical systems (CPS) under actuator attacks. In particular, we consider CPS safety and propose a new attack detection me…
Sampling based Computation of Viability Domain to Prevent Safety Violations by Attackers
Kunal Garg, Ricardo G. Sanfelice, Alvaro A. Cardenas
This paper studies the security of cyber-physical systems under attacks. Our goal is to design system parameters, such as a set of initial conditions and input bounds so that it is…
Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions
Kunal Garg, Ryan K. Cosner, Ugo Rosolia +2
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it i…
Safety-Critical Adaptive Control with Nonlinear Reference Model Systems
Ehsan Arabi, Kunal Garg, Dimitra Panagou
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general non…
Finite-Time Stability of Hybrid Systems: A Multiple Generalized Lyapunov Functions Approach
Kunal Garg, Dimitra Panagou
This paper studies finite-time stability of a class of hybrid systems. We present sufficient conditions in terms of multiple generalized Lyapunov functions for the origin of the hy…
Accelerating Distributed Optimization via Fixed-time Convergent Flows: Extensions to Non-convex Functions and Consistent Discretization
Kunal Garg, Mayank Baranwal
Distributed optimization has gained significant attention in recent years, primarily fueled by the availability of a large amount of data and privacy-preserving requirements. This…
Prescribed-time convergence with input constraints: A control Lyapunov function based approach
Kunal Garg, Ehsan Arabi, Dimitra Panagou
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control…
Finite-Time Stability of Switched and Hybrid Systems with Unstable Modes
Kunal Garg, Dimitra Panagou
In this work, we study finite-time stability of switched and hybrid systems in the presence of unstable modes. We present sufficient conditions in terms of multiple Lyapunov functi…
Hybrid Planning and Control for Multiple Fixed-Wing Aircraft under Input Constraints
Kunal Garg, Dimitra Panagou
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints t…
Finite-Time Resilient Formation Control with Bounded Inputs
James Usevitch, Kunal Garg, Dimitra Panagou
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resil…
Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances
Kunal Garg, Dongkun Han, Dimitra Panagou
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic un…