arXiv subjects

Christos Cassandras

Publications and source records attributed to Christos Cassandras.

3 recordsLinked to original sources

arXiv2026

Robust Taylor-Lagrange Control for Safety-Critical Systems

Solving safety-critical control problem has widely adopted the Control Barrier Function (CBF) method. However, the existence of a CBF is only a sufficient condition for system safety. The recently proposed Taylor-Lagrange Control (TLC) method addresses this limitation, but is vulnerable to the feasibility preservation problem (e.g., inter-sampling effect). In this paper, we propose a robust TLC (rTLC) method to address the feasibility preservation problem. Specifically, the rTLC method expands the safety function at an order higher than the relative degree of the function using Taylor's expansion with Lagrange remainder, which allows the control to explicitly show up at the current time instead of the future time in the TLC method. The rTLC method naturally addresses the feasibility preservation problem with only one hyper-parameter (the discretization time interval size during implementation), which is much less than its counterparts. Finally, we illustrate the effectiveness of the proposed rTLC method through an adaptive cruise control problem, and compare it with existing safety-critical control methods.

eess.SY↗

arXiv2025

Hierarchical Multi-Agent Reinforcement Learning with Control Barrier Functions for Safety-Critical Autonomous Systems

We address the problem of safe policy learning in multi-agent safety-critical autonomous systems. In such systems, it is necessary for each agent to meet the safety requirements at all times while also cooperating with other agents to accomplish the task. Toward this end, we propose a safe Hierarchical Multi-Agent Reinforcement Learning (HMARL) approach based on Control Barrier Functions (CBFs). Our proposed hierarchical approach decomposes the overall reinforcement learning problem into two levels learning joint cooperative behavior at the higher level and learning safe individual behavior at the lower or agent level conditioned on the high-level policy. Specifically, we propose a skill-based HMARL-CBF algorithm in which the higher level problem involves learning a joint policy over the skills for all the agents and the lower-level problem involves learning policies to execute the skills safely with CBFs. We validate our approach on challenging environment scenarios whereby a large number of agents have to safely navigate through conflicting road networks. Compared with existing state of the art methods, our approach significantly improves the safety achieving near perfect (within 5%) success/safety rate while also improving performance across all the environments.

cs.LG↗

arXiv2019

Load Balancing in Mobility-on-Demand Systems: Reallocation Via Parametric Control Using Concurrent Estimation

Mobility-on-Demand (MoD) systems require load balancing to maintain consistent service across regions with uneven demand subject to time-varying traffic conditions. The load-balancing objective is to jointly minimize the fraction of lost customer requests due to vehicle unavailability and the fraction of time when vehicles drive empty during load balancing operations. In order to bypass the intractability of a globally optimal solution to this stochastic dynamic optimization problem, we propose a parametric threshold-based control driven by the known relative abundance of vehicles available in and en route to each region. This is still a difficult parametric optimization problem for which one often resorts to trial-and-error methods where multiple sample paths are generated through simulation or from actual data under different parameter settings. In contrast, this paper utilizes concurrent estimation methods to simultaneously construct many sample paths from a single nominal sample path. The performance of the parametric controller for intermediate size systems is compared to that of a simpler single-parameter controller, a state-blind static controller, a policy of no control, and a theoretically-derived lower bound. Simulation results show the value of state information in improving performance.

math.OC↗