Safety-Critical Control

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18 papers in the last four weeks, up 260% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 91

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Real-Time Hard Peak Age-of-Information Safety with No-Regret Learning
Jul 30, 2026Wentao Zhang, Wentao MoOnline Convex Optimization Real-Time Scheduling
Tsinghua Shenzhen International Graduate School, Tsinghua University Shenzhen, China
Critical slowing down for predicting controller induced loss of control in quadrotors
Jul 28, 2026Jasper J. van Beers, Prashant Solanki, Erik-Jan van Kampen +1Safety-Critical Control Quadrotor Control
PhD Candidate, Faculty of Aerospace Engineering, Delft University of Technology, 2629 HS Delft, The Netherlands · PostDoc, Faculty of Aerospace Engineering, Delft University of Technology, 2629 HS Delft, The Netherlands · Associate professor, Faculty of Aerospace Engineering, Delft University of Technology, 2629 HS Delft, The Netherlands
End-to-End Learning of Safe Optimal Feedback Control in High Dimensions with Control Barrier Function Layers
Jul 22, 2026Xingjian Li, Kelvin Kan, Deepanshu Verma +3Safety-Critical Control Control Barrier Functions
UT Austin · UCLA · Clemson University +1
Integrity-Gated Eco-CACC: Epistemic Admissibility for Cooperative Driving at Signalized Intersections
Jul 20, 2026Lyes Saad Saoud, Moussa AyyashSafety-Critical Control Autonomous Driving
Chicago State University, Chicago, IL 60628, USA
RT-SHCUA: Real-Time Self-Hosted Computer-Use Agent for UAV Control
Jul 20, 2026Di Lu, Bo Zhang, Xiyuan Li +5Aerial Robotics Safety-Critical Control
School of Cyber Engineering, Shaanxi Key Lab of Network and System Security, Xidian University, Xi’an, Shaanxi 710071, China. · College of Cyber Security, Jinan University, Guangzhou 510632, China.
Optimal Safety Control using High-Order Control Barrier Functions
Jul 19, 2026Neng Li, Zuodong Pan, Jiaxing Wang +2Lyapunov-Based Control Safety-Critical Control
Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, Dalian University of Technology, Dalian 116024, China
Neuro-Agentic Control: A Deep Learning-based LLM-Powered Agentic AI Framework for Controlling Security Controls
Jul 10, 2026Saroj Gopali, Bipin Chhetri, Deepika Giri +2Language Model-Based Control Safety-Critical Control
Department of Computer Science1, Texas Tech University1 · Cumberland University2 · Advanced Academic Programs Science3, Johns Hopkins University3
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
Jul 5, 2026Sabrina Bodmer, Danilo Saccani, Melanie N. Zeilinger +1Safety-Critical Control Multi-Agent Control
Institute for Dynamic Systems and Control, ETH Zurich, Switzerland · Institute of Mechanical Engineering, École Polytechnique Fédérale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland
Hardware-Enforced Semantic Coordination for Safety-Critical Real-Time Autonomous Systems
Jul 2, 2026Uwe M. Borghoff, Paolo Bottoni, Remo PareschiMulti-Agent Coordination Safety-Critical Control
Department of Computer Science University of the Bundeswehr Munich Neubiberg, Germany · Department of Computer Science Sapienza University of Rome Rome, Italy · STAKE Lab University of Molise Campobasso, Italy
Managed Autonomy at Runtime: Gear-Based Safety and Governance for Single- and Multi-Agent Cyber-Physical Systems
Jul 1, 2026Srini Ramaswamy, Wang MiaoshengCyber-Physical Systems Safety-Critical Control
DNRS.ai, USA · Independent Researcher
Safe Online Learning via Smooth Safety-Structured Policy Composition
Jun 30, 2026Hongpeng Cao, Liqun Zhao, Yuliang Gu +3Safety-Critical Control Safe RL
School of Engineering and Design Technical University of Munich Garching, Munich 85748, Germany · Department of Engineering Science University of Oxford Oxford OX1 3PJ, United Kingdom · Department of Mechanical Science and Engineering University of Illinois Urbana-Champaign Urbana, IL 61801, USA +1
ShardNet: Training Neural Controllers with Hard, Non-Convex Constraints
Jun 29, 2026Long Kiu Chung, Shreyas KousikNeural Network Verification Safety-Critical Control
Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA.
When Stopping Fails: Rethinking Minimal Risk Conditions through Human-Interactive Autonomous Driving for Safe Transportation Systems
Jun 27, 2026Yash Tandon, Giovanni Tapia Lopez, Marcus Blennemann +2Safety-Critical Control Autonomous Driving Safety Evaluation
UC San Diego · UC Merced
What Actually Works for Spacecraft Fault-Tolerant Control: An Honest Settled-Gate Benchmark of Learned and Classical Methods
Jun 24, 2026Alireza ShojaeiSafety-Critical Control Robust Control
Myers-Lawson School of Construction, Virginia Tech, Blacksburg, VA 24061 USA
Conformal Recovery-Deadline Certificates for Runtime Assurance of Adapting Controllers
Jun 24, 2026Alireza ShojaeiSafety-Critical Control Conformal Prediction
Myers-Lawson School of Construction, Virginia Tech, Blacksburg, VA 24061 USA
Causality-Based Parametric Control Barrier Function for Safe Multi-Vehicle Interaction
Jun 23, 2026Yiwei Lyu, Caleb Chang, John M. DolanCollision Avoidance Safety-Critical Control
Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77845 USA · School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA · Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213 USA
NRT-Bench: Benchmarking Multi-Turn Red-Teaming of LLM Operator Agents in Safety-Critical Control Rooms
Jun 18, 2026Hanwool Lee, Dasol Choi, Bokyeong Kim +2Multi-Agent LLM Systems Safety-Critical Control
AIM Intelligence · Republic of Korea · KAERI
ESBMC-PLC: Formal Verification of IEC 61131-3 Ladder Diagram Programs Using SMT-Based Model Checking
Jun 13, 2026Pierre Dantas, Lucas Cordeiro, Waldir JuniorSafety-Critical Control Formal Verification
Computer Science, The University of Manchester Manchester, UK · Electrical Engineering, Federal University of Amazonas (UFAM) Manaus, AM, Brazil
Provably Safe, Yet Scalable Reinforcement Learning
Jun 12, 2026Kai S. Yun, Zeyang Li, Navid AzizanRL Control Safety-Critical Control
MIT
Runtime Enforcement of Hybrid System Properties
Jun 10, 2026Mir Md Sajid Sarwar, Srinivas Pinisetty, Rajarshi Ray +1Safety-Critical Control
Indian Institute of Technology Bhubaneswar, Bhubaneswar 752050, India · Indian Association for the Cultivation of Science, Kolkata 700032, India · Univ Rennes, Inria, CNRS, IRISA, France
Who Earns the Safety? Intervention-Aware Quantum Predictive Control with Safety Attribution
Jun 8, 2026Yifan WangSafety-Critical Control Control Barrier Functions
Department of Mechanical Engineering, McGill University Montréal, QC H3A 2T7, Canada
Extending Responsibility-Sensitive Safety for the Assessment of Offloaded Autonomous Driving Services
Jun 5, 2026Robin Dehler, Aryan Thakur, Michael BuchholzSafety-Critical Control Autonomous Driving
Institute of Measurement, Control and Microtechnology, Ulm University, Albert-Einstein-Allee 41, 89081 Ulm, Germany
Predicted-Flow Control Barrier Functions for Real-Time Safe Optimal Control
May 29, 2026Amirsaeid Safari, Jesse B. HoaggSafety-Critical Control Control Barrier Functions
Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY 40506 USA
ICAN-Deploy: Identity-Stable Canary Deployment for Safety-Critical Embodied Agents
May 27, 2026Xue Qin, Simin Luan, John See +3Safety-Critical Control AI Agent Governance
Harbin Institute of Technology School of Software Harbin, China
Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions
May 25, 2026Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2Safety-Critical Control Control Barrier Functions
Department of Intelligence and Information, Seoul National University, Republic of Korea · Robotics Lab, Hyundai Motor Group, Republic of Korea · Advanced Institute of Convergence Technology, Republic of Korea +1
Safety-Critical Control for Smoothed Implicit Contact Dynamics
May 20, 2026Haegu Lee, Yitaek Kim, Christoffer SlothDynamical Systems Contact-Rich Robotic Manipulation
The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark
Explainable Wastewater Digital Twins: Adaptive Context-Conditioned Structured Simulators with Self-Falsifying Decision Support
May 19, 2026Gary Simethy, Daniel Ortiz Arroyo, Petar DurdevicSurrogate Modeling Safety-Critical Control
Department of Energy, Aalborg University, Niels Bohrs Vej 8, Esbjerg, 6700, Denmark
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
May 15, 2026Taekyung Kim, Hideki Okamoto, Bardh Hoxha +2Safety-Critical Control Control Barrier Functions
Department of Robotics, 3Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, 48109, USA · Toyota Motor North America, Research & Development, Ann Arbor, MI, 48105, USA
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
May 15, 2026Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2Safety-Critical Control Control Barrier Functions
Robotics and Artificial Intelligence Group of the Department of Computer Science, Electrical and Space Engineering at Luleå University of Technology, Sweden.
Action-Conditioned Risk Gating for Safety-Critical Control under Partial Observability
May 14, 2026Yushen Liu, Yin-Jen Chen, Ziyi Chen +4Safety-Critical Control Partially Observable RL
University of Virginia · Google · University of Maryland, College Park +3

Jul 30, 2026, cs.LGJ/K move · Enter open · S save

Real-Time Hard Peak Age-of-Information Safety with No-Regret Learning

Wentao Zhang, Wentao Mo

Tsinghua Shenzhen International Graduate School, Tsinghua University Shenzhen, China

Online Convex Optimization Real-Time Scheduling Safety-Critical Control Age of Information

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Safety-critical IoT systems such as industrial closed-loop control, V2X coordination, and remote teleoperation require every sensor's peak Age of Information (peak AoI, also abbreviated PAoI) to stay below a hard per-slot deadline, not merely an average bound. Existing approaches meet this requirement only under restrictive assumptions: stochastic channels for Whittle-index AoI, simulator rollouts for deep reinforcement learning, or sublinear cumulative violation for long-term constrained online convex optimization. Under adversarial coefficients, OCO-PAoI-Hard guarantees zero per-slot violation of the modeled AoI state under one-step viability and O(sqrt(T)) regret against any static safe comparator; packet-level safety requires stronger service assumptions. Our key observation is that the fractional peak-AoI deadline collapses exactly to an affine half-space constraint on the resource-allocation vector, turning hard real-time scheduling into time-varying constrained online convex optimization over a polyhedral safe set. A strictly causal proposal-shield-update loop enforces feasibility through one Euclidean projection per slot, the gradient step preserves no-regret behavior, and the classical virtual queue is reduced to an a-posteriori certificate. We establish closed-form static and dynamic regret bounds, a matching Omega(sqrt(T)) minimax lower bound, a margin-safe variant against execution noise, and a deadline-induced competitive ratio. On a four-sensor adversarial fluid-model trap channel, OCO-PAoI-Hard attains zero modeled-state deadline violations across all ten seeds, while four representative baselines miss between 1.65 percent and 64.0 percent of slots, and the empirical normalized regret stays below the theoretical envelope across two orders of magnitude in T.

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