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Found 56 papers, 5 papers with code
Data-Driven Distributionally Robust Control for Interacting Agents under Logical Constraints
The underlying DRO can be approximated as a robust data-driven optimization that provides a probabilistic under-approximation to the original ECP, where the probability depends on the number of samples.
Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers.
Estimating unknown dynamics and cost as a bilinear system with Koopman-based Inverse Optimal Control
In this work, we address the challenge of approximating unknown system dynamics and costs by representing them as a bilinear system using Koopman-based Inverse Optimal Control (IOC).
Conformal Prediction for Distribution-free Optimal Control of Linear Stochastic Systems
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction.
A Communication Consistent Approach to Signal Temporal Logic Task Decomposition in Multi-Agent Systems
Given a global task expressed as a conjunction of local tasks defined over the individual and relative states of agents in the system, we propose representing task dependencies among agents as edges of a suitably defined task graph.
Decentralized Control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies.
Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown.
From Time-Invariant to Uniformly Time-Varying Control Barrier Functions: A Constructive Approach
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBFs and thereby for the satisfaction of uniformly time-varying constraints.
A Note on an Upper-Bound for the Sum of a Class K and an Extended Class K Function
In this short note, we derive an upper-bound for the sum of two comparison functions, namely for the sum of a class K and an extended class K function.
Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability.
Zonotope-based Symbolic Controller Synthesis for Linear Temporal Logic Specifications
In particular, we only focus on the cells from the realization verification and approximate each cell thanks to properties of zonotopes.
Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent Systems under STL Specifications
This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications.
3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape.
Communication-Constrained STL Task Decomposition through Convex Optimization
In this work, we propose a method to decompose signal temporal logic (STL) tasks for multi-agent systems subject to constraints imposed by the communication graph.
Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems.
On Approximate Opacity of Stochastic Control Systems
Based on this new system relation, we show that one can verify opacity for stochastic control systems using their abstractions (modeled as finite gMDPs).
State Estimation for Linear Systems with Quadratic Outputs
This letter deals with the problem of state estimation for a class of systems involving linear dynamics with multiple quadratic output measurements.
On Topological Conditions for Enabling Transient Control in Leader-follower Networks
We derive necessary and sufficient conditions for leader-follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation while satisfying certain transient constraints.
Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon.
A contract negotiation scheme for safety verification of interconnected systems
This paper proposes a (control) barrier function synthesis and safety verification scheme for interconnected nonlinear systems based on assume-guarantee contracts (AGC) and sum-of-squares (SOS) techniques.
Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume-Guarantee Contracts
This paper considers the problem of controller synthesis of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks.
Continuous-time control synthesis under nested signal temporal logic specifications
In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications.
Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems.
Construction of Control Barrier Functions Using Predictions with Finite Horizon
We show that, based on ideas similar to the Hamilton-Jacobi reachability analysis, the knowledge on the subset of a control-invariant set allows us to obtain a time-invariant CBF for the time-invariant dynamics under consideration.
Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions.
Prediction-Based Leader-Follower Rendezvous Model Predictive Control with Robustness to Communication Losses
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV).
Compatibility checking of multiple control barrier functions for input constrained systems
State and input constraints are ubiquitous in control system design.
A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints.
Handling Disjunctions in Signal Temporal Logic Based Control Through Nonsmooth Barrier Functions
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a controller based on a set of simple optimization problems.
Funnel Control Under Hard and Soft Output Constraints
This paper proposes a funnel control method under time-varying hard and soft output constraints.
Decentralized Model Predictive Control for Equilibrium-based Collaborative UAV Bar Transportation
In this paper we analyze the equilibrium points of a collaborative transportation task, composed of two unmanned aerial vehicles and a payload - in this case, a bar.
Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV).
Razumikhin and Krasovskii Approaches for Safe Stabilization
Based on the sliding surface functional, a feedback control law is established to investigate the stabilization and safety objectives simultaneously.
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
We achieve such a construction by designing appropriate adaptive control protocols in the lower level, which guarantee the safe robot navigation/object transportation in the environment while compensating for the dynamic uncertainties.
Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems.
Distributed Consensus of Stochastic Multi-agent Systems with Prescribed Performance Constraints
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions of multi-agent systems.
Event-Triggered Tracking Control of Networked Multi-Agent Systems
This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms.
Parallelized Robust Distributed Model Predictive Control in the Presence of Coupled State Constraints
Reference trajectories and consistency constraints are known to neighboring subsystems.
Event-Triggered Tracking Control of Networked and Quantized Control Systems
This paper studies the tracking control problem of networked and quantized control systems under both multiple networks and event-triggered mechanisms.
Reactive and Risk-Aware Control for Signal Temporal Logic
Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control.
2-D Directed Formation Control Based on Bipolar Coordinates
This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape.
On the Undesired Equilibria Induced by Control Barrier Function Based Quadratic Programs
In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback.
High-order Barrier Functions: Robustness, Safety and Performance-Critical Control
Furthermore, the proposed formulation accounts for "performance-critical" control: it guarantees that a subset of the forward invariant set will admit any existing, bounded control law, while still ensuring forward invariance of the set.
Higher Order Convergent Control Barrier Functions for Leader-Follower Multi-Agent Systems under STL Tasks
This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks.
Online Control Synthesis for Uncertain Systems under Signal Temporal Logic Specifications
It is shown that when the STL formula is robustly satisfiable and the initial state of the system belongs to the initial root node of the tTLT, it is guaranteed that the trajectory generated by the control synthesis algorithm satisfies the STL formula.
Fixed-Time Convergent Control Barrier Functions for Coupled Multi-Agent Systems Under STL Tasks
This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks.
Aperiodic Communication for MPC in Autonomous Cooperative Landing
The main contribution is a rendezvous algorithm with an online update rule of the rendezvous location.
Barrier Function-based Collaborative Control of Multiple Robots under Signal Temporal Logic Tasks
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks.
A hybrid barrier certificate approach to satisfy linear temporal logic specifications
In order to solve this problem, we introduce an extension to such a hybrid system framework of the so-called eventuality property, which matches suitably the condition for the satisfaction of such a temporal logic specification.
Satisfaction of linear temporal logic specifications through recurrence tools for hybrid systems
In this work we formulate the problem of satisfying a linear temporal logic formula on a linear plant with output feedback, through a recent hybrid systems formalism.
Learning Hybrid Control Barrier Functions from Data
Motivated by the lack of systematic tools to obtain safe control laws for hybrid systems, we propose an optimization-based framework for learning certifiably safe control laws from data.
Safe-by-Design Control for Euler-Lagrange Systems
The proposed approach consists of a sampled-data controller and an algorithm for barrier function construction to enforce safety (i. e satisfy position and velocity constraints).
On Compatibility and Region of Attraction for Safe, Stabilizing Control Laws
A novel control method is proposed to ensure compatibility of safe, stabilizing control laws, i. e., simultaneous satisfaction of asymptotic stability and constraint satisfaction for nonlinear affine systems.
Learning Control Barrier Functions from Expert Demonstrations
Furthermore, if the CBF parameterization is convex, then under mild assumptions, so is our learning process.
Active Depth Estimation: Stability Analysis and its Applications
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme.
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
The basic idea consists in estimating the depth of the points by explicitly considering the dynamics of the camera mounted on a ground robot, and feeding the estimates of 3D points observed by both cameras in a filter that computes the relative pose between the robots.
