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Found 10 papers, 1 papers with code
Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation.
Robust Safety-Critical Control for Systems with Sporadic Measurements and Dwell Time Constraints
This paper presents extensions of control barrier function (CBF) theory to systems with disturbances wherein a controller only receives measurements infrequently and operates open-loop between measurements, while still satisfying state constraints.
Aerial Swarm Defense using Interception and Herding Strategies
This paper presents a multi-mode solution to the problem of defending a circular protected area (target) from a wide range of attacks by swarms of risk-taking and/or risk-averse attacking agents (attackers).
Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions
We propose a novel class of risk-aware control barrier functions (RA-CBFs) for the control of stochastic safety-critical systems.
FORESEE: Prediction with Expansion-Compression Unscented Transform for Online Policy Optimization
Under state and control input constraints, the state prediction is subsequently used in tandem with a proposed variant of constrained gradient-descent for online update of policy parameters in a receding horizon fashion.
Adversary Detection and Resilient Control for Multi-Agent Systems
Then, based on the analysis and detection results, a resilient QP-based controller is presented to ensure safety and liveness constraints for intact agents.
IDCAIS: Inter-Defender Collision-Aware Interception Strategy against Multiple Attackers
In particular, in this paper, the defenders are assigned to intercept attackers using a mixed-integer quadratic program (MIQP) that: 1) minimizes the sum of times taken by defenders to capture the attackers under time-optimal control, as well as 2) helps eliminate or delay possible future collisions among the defenders on the optimal trajectories.
Robust Control Barrier Functions under High Relative Degree and Input Constraints for Satellite Trajectories
Three special forms of Robust CBFs (RCBFs) are developed as functions of the input constraints, system dynamics, and disturbance bounds, such that the resultant RCBF condition on the control input is always feasible for states in the RCBF zero sublevel set.
Adversarial Resilience for Sampled-Data Systems under High-Relative-Degree Safety Constraints
However, these works do not consider scenarios where a subset of the agents are behaving adversarially with the intent to violate safety bounds.
Optimization and Control
Herding an Adversarial Swarm in Three-dimensional Spaces
We extend our 2D `StringNet Herding' approach, in which a closed formation of string-barriers is established around the adversarial swarm to confine their motion and herd them to a safe area, to 3D spaces by introducing 3D-StringNet.
