In recent years, formal methods have been extensively used in the design of autonomous
systems. By employing mathematically rigorous techniques, formal methods can provide …

This tutorial paper presents recent work of the authors that extends the theory of Control
Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers …

In this letter, we propose a distributed implementation framework for control barrier functions
induced quadratic programs for multi-agent systems. The quadratic program aims at …

For efficient and robust task accomplishment in multi-agent systems, an agent must be able
to distinguish cooperative agents from non-cooperative (ie, uncooperative and adversarial) …

Safety is crucial for autonomous drones to operate close to humans. Besides avoiding
unwanted or harmful contact, people should also perceive the drone as safe. Existing safe …

In this article, we address a multi-robot planning problem in environments with partially
unknown semantics. The environment is assumed to have a known geometric structure (eg …

In this work, we propose a framework for the distributed implementation of Quadratic
Programs-based controllers, building upon and rectifying a significant limitation in a …

In this survey, we design formal verification and control algorithms for autonomous systems
with practical safety guarantees using conformal prediction (CP), a statistical tool for …

Signal temporal logic (STL) has been found to be an expressive language for describing
complex, time-constrained tasks in several robotic applications. Existing methods encode …

We develop an open-source software tool, called PRoTECT, for the parallelized construction
of safety barrier certificates (BCs) for nonlinear polynomial systems. This tool employs sum …