4 papers
Distributed Safety-Critical Control of Multi-Agent Systems with Time-Varying Communication Topologies
Shiyu Cheng, Luyao Niu, Bhaskar Ramasubramanian +2
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In p…
Safe Control for Nonlinear Systems Under Faults and Attacks Via Control Barrier Functions
Hongchao Zhang, Zhouchi Li, Andrew Clark
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics,…
A Semi-Algebraic Framework for Verification and Synthesis of Control Barrier Functions
Andrew Clark
Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predef…
Who is Responsible? Explaining Safety Violations in Multi-Agent Cyber-Physical Systems
Luyao Niu, Hongchao Zhang, Dinuka Sahabandu +3
Multi-agent cyber-physical systems are present in a variety of applications. Agent decision-making can be affected due to errors induced by uncertain, dynamic operating environment…