12 citations · 64 across the 38 of their papers we have counts for
23 papers · 1 filter
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…
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…
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…
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…
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…
Decentralized Time and Energy-Optimal Control of Connected and Automated Vehicles in a Roundabout
Kaiyuan Xu, Christos G. Cassandras, Wei Xiao
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and…
Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics
Wei Xiao, Calin Belta, Christos G. Cassandras
This paper addresses the problem of safety-critical control for systems with unknown dynamics. It has been shown that stabilizing affine control systems to desired (sets of) states…
High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications
Wei Xiao, Calin A. Belta, Christos G. Cassandras
Recent work has shown that stabilizing an affine control system to a desired state while optimizing a quadratic cost subject to state and control constraints can be reduced to a se…
A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections
Huile Xu, Wei Xiao, Christos G. Cassandras +2
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safel…
Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles
Wei Xiao, Christos G. Cassandras, Calin A. Belta
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited…
Decentralized Optimal Control in Multi-lane Merging for Connected and Automated Vehicles
Wei Xiao, Christos G. Cassandras, Calin Belta
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to…
Adaptive Control Barrier Functions for Safety-Critical Systems
Wei Xiao, Calin Belta, Christos G. Cassandras
Recent work showed that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs and observing state and control constraints can be reduced t…
Feasibility-Guided Learning for Robust Control in Constrained Optimal Control Problems
Wei Xiao, Calin A. Belta, Christos G. Cassandras
Optimal control problems with constraints ensuring safety and convergence to desired states can be mapped onto a sequence of real time optimization problems through the use of Cont…
Control Barrier Functions for Systems with High Relative Degree
Wei Xiao, Calin Belta
This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are…
Decentralized Optimal Merging Control for Connected and Automated Vehicles
Wei Xiao, Christos G. Cassandras
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel…