5 papers · 1 filter
A Temporal Cellular Sheaf Framework for Multi-Agent Systems with Switching Communication Topologies
Brandon Fallin, Wilmer Leal, Austin Copeland +3
Cellular sheaves serve as a natural modeling framework for encoding heterogeneity in the state and interaction spaces of multi-agent systems. This work examines switching communica…
From Local to Global: Sheaf-Theoretic Control Barrier Functions on Manifolds
Keith A. Currier, Wilmer Leal, Brandon C. Fallin +2
Control barrier functions (CBFs) provide formal safety guarantees for dynamical systems by rendering a safe set forward-invariant via pointwise-optimal feedback control. While the…
Collaborative Indirect Influencing and Control on Graphs using Graph Neural Networks
Max L. Gardenswartz, Brandon C. Fallin, Cristian F. Nino +1
This paper presents a novel approach to solving the indirect influence problem in networked systems, in which cooperative nodes must regulate a target node with uncertain dynamics…
Lyapunov-Based Graph Neural Networks for Adaptive Control of Multi-Agent Systems
Brandon C. Fallin, Cristian F. Nino, Omkar Sudhir Patil +2
Graph neural networks (GNNs) have a message-passing framework in which vector messages are exchanged between graph nodes and updated using feedforward layers. The inclusion of dist…
Bounds on Deep Neural Network Partial Derivatives with Respect to Parameters
Omkar Sudhir Patil, Brandon C. Fallin, Cristian F. Nino +2
Deep neural networks (DNNs) have emerged as a powerful tool with a growing body of literature exploring Lyapunov-based approaches for real-time system identification and control. T…