6 papers
Combinatorial Safety-Critical Coordination of Multi-Agent Systems via Mixed-Integer Responsibility Allocation and Control Barrier Functions
Johannes Autenrieb, Mark Spiller, Hyo-Sang Shin +1
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide forma…
Robust Adaptive Sliding-Mode Control for Damaged Fixed-Wing UAVs
Mark Spiller, Lennart Kracke, Johannes Autenrieb
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilot…
Generalized Intelligence for Tactical Decision-Making: Large Language Model-Driven Dynamic Weapon Target Assignment
Johannes Autenrieb, Ole Ostermann
Modern aerospace defense systems increasingly rely on autonomous decision-making to coordinate large numbers of interceptors against multiple incoming threats. Conventional weapon-…
An Error-Based Safety Buffer for Safe Adaptive Control (Extended Version)
Peter A. Fisher, Johannes Autenrieb, Anuradha M. Annaswamy
We consider the problem of adaptive control of a class of feedback linearizable plants with matched parametric uncertainties whose states are accessible, subject to state constrain…
Quadratic Programming Approach to Flight Envelope Protection Using Control Barrier Functions
Johannes Autenrieb
Ensuring the safe operation of aerospace systems within their prescribed flight envelope is a fundamental requirement for modern flight control systems. Flight envelope protection…
Sensor-Based Safety-Critical Control Using an Incremental Control Barrier Function Formulation via Reduced-Order Approximate Models
Johannes Autenrieb, Hyo-Sang Shin
The existing control barrier function literature generally relies on precise mathematical models to guarantee system safety, limiting their applicability in scenarios with parametr…