Survey of containment control in multi-agent systems: concepts, communication, dynamics, and controller design
M Thummalapeta, YC Liu - International Journal of Systems …, 2023 - Taylor & Francis
Cooperative robotics has gained considerable traction in the industrial sector with the
expeditious use of multi-agent systems. Containment control is an emergent topic in …
expeditious use of multi-agent systems. Containment control is an emergent topic in …
nnenum: Verification of relu neural networks with optimized abstraction refinement
S Bak - NASA formal methods symposium, 2021 - Springer
The surge of interest in applications of deep neural networks has led to a surge of interest in
verification methods for such architectures. In summer 2020, the first international …
verification methods for such architectures. In summer 2020, the first international …
Set operations and order reductions for constrained zonotopes
V Raghuraman, JP Koeln - Automatica, 2022 - Elsevier
This paper presents methods for using zonotopes and constrained zonotopes to improve the
practicality of a wide variety of set-based operations commonly used in control theory. The …
practicality of a wide variety of set-based operations commonly used in control theory. The …
Attack detection for cyber-physical systems: A zonotopic approach
This article studies the problem of sensor attack detection for a class of cyber-physical
systems with bounded perturbations. A novel attack detection method is proposed based on …
systems with bounded perturbations. A novel attack detection method is proposed based on …
Ellipsotopes: Uniting ellipsoids and zonotopes for reachability analysis and fault detection
Ellipsoids are a common representation for reachability analysis, because they can be
transformed efficiently under affine maps, and they allow conservative approximation of …
transformed efficiently under affine maps, and they allow conservative approximation of …
Formal safety net control using backward reachability analysis
B Schürmann, M Klischat… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
Ensuring safety is crucial for the successful deployment of autonomous systems, such as self-
driving vehicles, unmanned aerial vehicles, and robots acting close to humans. While there …
driving vehicles, unmanned aerial vehicles, and robots acting close to humans. While there …
On the co-NP-completeness of the zonotope containment problem
A Kulmburg, M Althoff - European Journal of Control, 2021 - Elsevier
We introduce a new type of norm for non-degenerate zonotopes to solve the point
containment problem, ie, whether a point lies in a zonotope. With this norm we prove the co …
containment problem, ie, whether a point lies in a zonotope. With this norm we prove the co …
Scalable robust safety filter with unknown disturbance set
F Gruber, M Althoff - IEEE Transactions on Automatic Control, 2023 - ieeexplore.ieee.org
Equipping any controller with formal safety guarantees can be achieved by using safety
filters. These filters modify the desired control input in the least restrictive way to guarantee …
filters. These filters modify the desired control input in the least restrictive way to guarantee …
Scalable zonotopic under-approximation of backward reachable sets for uncertain linear systems
Zonotopes are widely used for over-approximating forward reachable sets of uncertain
linear systems for verification purposes. In this letter, we use zonotopes to achieve more …
linear systems for verification purposes. In this letter, we use zonotopes to achieve more …
Neural network compression of ACAS Xu early prototype is unsafe: Closed-loop verification through quantized state backreachability
ACAS Xu is an air-to-air collision avoidance system designed for unmanned aircraft that
issues horizontal turn advisories to avoid an intruder aircraft. Due the use of a large lookup …
issues horizontal turn advisories to avoid an intruder aircraft. Due the use of a large lookup …