Learning safe control for multi-robot systems: Methods, verification, and open challenges
In this survey, we review the recent advances in control design methods for robotic multi-
agent systems (MAS), focusing on learning-based methods with safety considerations. We …
agent systems (MAS), focusing on learning-based methods with safety considerations. We …
Safe reinforcement learning for model-reference trajectory tracking of uncertain autonomous vehicles with model-based acceleration
Applying reinforcement learning (RL) algorithms to control systems design remains a
challenging task due to the potential unsafe exploration and the low sample efficiency. In …
challenging task due to the potential unsafe exploration and the low sample efficiency. In …
Learning Control Barrier Functions and their application in Reinforcement Learning: A Survey
Reinforcement learning is a powerful technique for developing new robot behaviors.
However, typical lack of safety guarantees constitutes a hurdle for its practical application on …
However, typical lack of safety guarantees constitutes a hurdle for its practical application on …
Optimized SARLOS guidance for berthing control of autonomous surface vehicle with collision avoidance
T Sun, C Liu, Y Yin - Ocean Engineering, 2025 - Elsevier
The collision with dock is the major threat for the autonomous berthing of surface vehicle. In
this paper, the collision avoidance with dock is incorporated into berthing control of …
this paper, the collision avoidance with dock is incorporated into berthing control of …
Quadratic Programming Consensus Tracking Control of Uncertain Multiagent Systems via Event-Triggered Mechanism
This article addresses the consensus tracking control of multiagent systems (MASs) via a
quadratic programming (QP) optimization framework, where the control Lyapunov function …
quadratic programming (QP) optimization framework, where the control Lyapunov function …
Distributed Collaborative Safety-Critical Control for Networked Dynamic Systems
As modern systems become ever more connected with complex dynamic coupling
relationships, the development of safe control methods for such networked systems …
relationships, the development of safe control methods for such networked systems …
Safe Control Framework of Multi-Agent Systems From a Performance Enhancement Perspective
In the control problems of multi-agent systems, collision avoidance is a fundamental safety
requirement. One effective approach to ensure safety involves combining control barrier …
requirement. One effective approach to ensure safety involves combining control barrier …
Safe Formation Control of Uncertain Multiagent Systems from a Bayesian Perspective
This study addresses the formation control of uncertain multi-agent systems with a safety
requirement of collision avoidance. The control inputs are determined through quadratic …
requirement of collision avoidance. The control inputs are determined through quadratic …
Low-Computation-Based Adaptive Self-Triggered Bipartite Consensus Control for Nonlinear Multi-Agent Systems Subject to Sensor Faults
Y Wu, H Liang, N Zhao, B Niu - IEEE Transactions on Control of …, 2024 - ieeexplore.ieee.org
This paper presents an adaptive self-triggered tracking control scheme for nonlinear multi-
agent systems with sensor faults. Firstly, this paper considers a competitive-cooperative …
agent systems with sensor faults. Firstly, this paper considers a competitive-cooperative …
Approximate optimal and scalable control for collision-free formation of uncertain nonholonomic robots
Y Guo, H Huang, J Xu - Nonlinear Dynamics, 2024 - Springer
This paper studies the formation tracking problem for nonholonomic multirobot systems
under model uncertainties. A new local variable is designed to transform the collision-free …
under model uncertainties. A new local variable is designed to transform the collision-free …