7 papers
Collaborative Altruistic Safety in Coupled Multi-Agent Systems
Brooks A. Butler, Xiao Tan, Aaron D. Ames +1
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of al…
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Ersin Das, Rahal Nanayakkara, Xiao Tan +4
Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state informa…
Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks
Xiao Tan, Junior Sundar, Renzo Bruzzone +5
Modern autopilot systems are prone to sensor attacks that can jeopardize flight safety. To mitigate this risk, we proposed a modular solution: the secure safety filter, which exten…
Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their appl…
Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
Xiao Tan, Ersin Das, Aaron D. Ames +1
We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions…
Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks
Xiao Tan, Pio Ong, Paulo Tabuada +1
Cyber-physical systems are prone to sensor attacks that can compromise safety. A common approach to synthesizing controllers robust to sensor attacks is secure state reconstruction…