12 citations · 64 across the 38 of their papers we have counts for
38 papers
Reference-Governed Distributed Safe Gradient Flow for Safe Optimal Output Agreement of Multi-Agent Systems
Zhanglin Shangguan, Wei Xiao, Bo Yang +1
This paper studies safe optimal output agreement for nonlinear multi-agent systems with output safety constraints. Existing safe feedback optimization methods often implement gradi…
Synthesizing Safety in Infinite-Horizon Optimal Control for Disturbed High-Relative-Degree Systems via Barrier-Regulating Auxiliary Variables
Zhanglin Shangguan, Wei Xiao, Qi Li +2
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barr…
Reservoir observer enhanced with residual calibration and attention mechanism
Yichen Liu, Wei Xiao, Tianguang Chu
Reservoir observers provide a data-driven approach to the inference of unmeasured variables from observed ones for nonlinear dynamical systems. While previous studies have demonstr…
Event-Triggered Adaptive Taylor-Lagrange Control for Safety-Critical Systems
Shuo Liu, Wei Xiao, Christos G. Cassandras +1
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method p…
Finite-time Convergent Control Barrier Functions with Feasibility Guarantees
Anni Li, Yingqing Chen, Christos G. Cassandras +1
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapu…
Event-Driven Safe and Resilient Control of Automated and Human-Driven Vehicles under EU-FDI Attacks
Yi Zhang, Yichao Wang, Wei Xiao +2
This paper studies the safe and resilient control of Connected and Automated Vehicles (CAVs) operating in mixed traffic environments where they must interact with Human-Driven Vehi…
Secure Control of Connected and Automated Vehicles Using Trust-Aware Robust Event-Triggered Control Barrier Functions
H M Sabbir Ahmad, Ehsan Sabouni, Akua Dickson +3
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadway…
Safe Optimal Interactions Between Automated and Human-Driven Vehicles in Mixed Traffic with Event-triggered Control Barrier Functions
Anni Li, Christos G. Cassandras, Wei Xiao
This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control polici…
Trust-Aware Resilient Control and Coordination of Connected and Automated Vehicles
H M Sabbir Ahmad, Ehsan Sabouni, Wei Xiao +2
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause…
Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions: a Test Bed for Safe Optimal Merging
Ehsan Sabouni, H. M. Sabbir Ahmad, Wei Xiao +2
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…
SafeDiffuser: Safe Planning with Diffusion Probabilistic Models
Wei Xiao, Tsun-Hsuan Wang, Chuang Gan +1
Diffusion model-based approaches have shown promise in data-driven planning, but there are no safety guarantees, thus making it hard to be applied for safety-critical applications.…
Learning Robust and Correct Controllers from Signal Temporal Logic Specifications Using BarrierNet
Wenliang Liu, Wei Xiao, Calin Belta
In this paper, we consider the problem of learning a neural network controller for a system required to satisfy a Signal Temporal Logic (STL) specification. We exploit STL quantita…
Learning Stability Attention in Vision-based End-to-end Driving Policies
Tsun-Hsuan Wang, Wei Xiao, Makram Chahine +3
Modern end-to-end learning systems can learn to explicitly infer control from perception. However, it is difficult to guarantee stability and robustness for these systems since the…
Auxiliary-Variable Adaptive Control Barrier Functions for Safety Critical Systems
Shuo Liu, Wei Xiao, Calin A. Belta
This paper studies safety guarantees for systems with time-varying control bounds. It has been shown that optimizing quadratic costs subject to state and control constraints can be…
Learning Feasibility Constraints for Control Barrier Functions
Wei Xiao, Christos G. Cassandras, Calin A. Belta
It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a…
Learned Risk Metric Maps for Kinodynamic Systems
Ross Allen, Wei Xiao, Daniela Rus
We present Learned Risk Metric Maps (LRMM) for real-time estimation of coherent risk metrics of high dimensional dynamical systems operating in unstructured, partially observed env…
On the Forward Invariance of Neural ODEs
Wei Xiao, Tsun-Hsuan Wang, Ramin Hasani +4
We propose a new method to ensure neural ordinary differential equations (ODEs) satisfy output specifications by using invariance set propagation. Our approach uses a class of cont…
Optimal Control of Connected Automated Vehicles with Event/Self-Triggered Control Barrier Functions
Ehsan Sabouni, Christos G. Cassandras, Wei Xiao +1
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…
Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a p…
Self-Triggered Coordination Control of Connected Automated Vehicles in Traffic Networks
Nader Meskin, Ehsan Sabouni, Wei Xiao +1
In this paper, a self-triggered scheme is proposed to optimally control the traffic flow of Connected and Automated Vehicles (CAVs) at conflict areas of a traffic network with the…
Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions
Ehsan Sabouni, Christos G. Cassandras, Wei Xiao +1
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…
Control Barrier Functions for Systems with Multiple Control Inputs
Wei Xiao, Christos G. Cassandras, Calin A. Belta +1
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem…
Feasibility Guaranteed Traffic Merging Control Using Control Barrier Functions
Kaiyuan Xu, Wei Xiao, Christos G. Cassandras
We consider the merging control problem for Connected and Automated Vehicles (CAVs) aiming to jointly minimize travel time and energy consumption while providing speed-dependent sa…
Differentiable Control Barrier Functions for Vision-based End-to-End Autonomous Driving
Wei Xiao, Tsun-Hsuan Wang, Makram Chahine +3
Guaranteeing safety of perception-based learning systems is challenging due to the absence of ground-truth state information unlike in state-aware control scenarios. In this paper,…