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Dimitra Panagou

Dimitra Panagou contributes to research discovery and scholarly infrastructure.

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Published work

13 published item(s)

preprint2026arXiv

Robust Multi-Agent LLMs under Byzantine Faults

Large language model (LLM) agents increasingly collaborate over peer-to-peer networks to improve their reliability. However, these same interactions can also become a source of vulnerability, as unreliable or Byzantine agents may sway neighboring agents toward incorrect conclusions and degrade overall system performance. Existing methods rely on leader-based coordination or self-reported confidence, both of which are susceptible to adversarial manipulation. We study decentralized LLM multi-agent systems (LLM-MAS) and propose Self-Anchored Consensus (SAC), a fully decentralized iterative filter-and-refine protocol in which agents iteratively exchange responses, locally evaluate and filter unreliable messages, and refine their own outputs. We present $(F{+}1)$-robustness conditions for the communication graph that ensure honest agents preserve and propagate reliable information despite Byzantine influence. Experiments on mathematical and commonsense reasoning benchmarks show that SAC effectively suppresses Byzantine influence and consistently improves performance across diverse communication topologies, whereas prior methods degrade under adversarial conditions.

preprint2022arXiv

Adversary Detection and Resilient Control for Multi-Agent Systems

This paper presents an adversary detection mechanism and a resilient control framework for multi-agent systems under spatiotemporal constraints. Safety in multi-agent systems is typically addressed under the assumption that all agents collaborate to ensure the forward invariance of a desired safe set. This work analyzes agent behaviors based on certain behavior metrics, and designs a proactive adversary detection mechanism based on the notion of the critical region for the system operation. In particular, the presented detection mechanism not only identifies adversarial agents, but also ensures all-time safety for intact agents. Then, based on the analysis and detection results, a resilient QP-based controller is presented to ensure safety and liveness constraints for intact agents. Simulation results validate the efficacy of the presented theoretical contributions.

preprint2022arXiv

Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems

Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier(CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the parameters of these class-$\mathcal{K}$ functions. The construction of valid CBFs, however, is not straightforward, and for arbitrarily chosen parameters of the QP, the system trajectories may enter states at which the QP either eventually becomes infeasible, or may not achieve desired performance. In this work, we pose the control synthesis problem as a differential policy whose parameters are optimized for performance over a time horizon at high level, thus resulting in a bi-level optimization routine. In the absence of knowledge of the set of feasible parameters, we develop a Recursive Feasibility Guided Gradient Descent approach for updating the parameters of QP so that the new solution performs at least as well as previous solution. By considering the dynamical system as a directed graph over time, this work presents a novel way of optimizing performance of a QP controller over a time horizon for multiple CBFs by (1) using the gradient of its solution with respect to its parameters by employing sensitivity analysis, and (2) backpropagating these as well as system dynamics gradients to update parameters while maintaining feasibility of QPs.

preprint2022arXiv

Trust-based Rate-Tunable Control Barrier Functions for Non-Cooperative Multi-Agent Systems

For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and collaboration can often be encoded as Control Barrier Functions (CBFs). In this work, we first develop a trust metric that each agent uses to form its own belief of how cooperative other agents are. The metric is used to adjust the rate at which the CBFs allow the system trajectories to approach the boundaries of the safe region. Then, based on the presented notion of trust, we propose a Rate-Tunable CBF framework that leads to less conservative performance compared to an identity-agnostic implementation, where cooperative and non-cooperative agents are treated similarly. Finally, in presence of non-cooperating agents, we show the application of our control algorithm to heterogeneous multi-agent system through simulations.

preprint2021arXiv

Adversarial Resilience for Sampled-Data Systems under High-Relative-Degree Safety Constraints

Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all agents cooperate to ensure that the corresponding set remains invariant. However, these works do not consider scenarios where a subset of the agents are behaving adversarially with the intent to violate safety bounds. In addition, prior results on multi-agent CBFs typically assume that control inputs are continuous and do not consider sampled-data dynamics. This paper presents a framework for normally-behaving agents in a multi-agent system with heterogeneous control-affine, sampled-data dynamics to render a safe set forward invariant in the presence of adversarial agents. The proposed approach considers several aspects of practical control systems including input constraints, clock asynchrony and disturbances, and distributed calculation of control inputs. Our approach also considers functions describing safe sets having high relative degree with respect to system dynamics. The efficacy of these results are demonstrated through simulations.

preprint2021arXiv

Fixed-time Control under Spatiotemporal and Input Constraints: A Quadratic Program Based Approach

In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input constraints. The relation between the domain of attraction for fixed-time stability with respect to input constraints and the required time of convergence is established. It is shown that increasing the control authority or the required time of convergence can expand the domain of attraction for fixed-time stability. Then, we consider the problem of finding a control input that confines the closed-loop system trajectories in a safe set and steers them to a goal set within a fixed time. To this end, we present a Quadratic Program (QP) formulation to compute the corresponding control input. We use slack variables to guarantee feasibility of the proposed QP under input constraints. Furthermore, when strict complementary slackness holds, we show that the solution of the QP is a continuous function of the system states, and establish uniqueness of closed-loop solutions to guarantee forward invariance using Nagumo's theorem. We present two case studies, an example of adaptive cruise control problem and an instance of a two-robot motion planning problem, to corroborate our proposed methods.

preprint2021arXiv

Guaranteed Safe Spacecraft Docking with Control Barrier Functions

This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of disturbances prevents convergence to a unique docking state, so in our formulation, docking is defined as occurring within a set constructed using prescribed tolerances. Safety is ensured via application of Robust Control Barrier Functions to render a designated safe set forward invariant for any allowable disturbance. However, this safety strategy necessarily presumes a worst-case disturbance, and thus restricts trajectories to a subset of the safe set when a worst-case disturbance is not present. The presented controller accounts for this restriction, and guarantees that the spacecraft both remains safe and achieves docking in finite time for any allowable disturbance. The controller is then validated in simulation for a spacecraft landing on an asteroid, and two spacecraft docking in low Earth orbit.

preprint2021arXiv

Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions

In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it in a multi-rate framework where a high-level planner generates a reference trajectory that is tracked by a low-level controller under input constraints. We introduce the notion of fixed-time barrier functions which is leveraged by the proposed low-level controller in a quadratic programming framework. Then, we design a model predictive control policy for high-level planning with a bound on the rate of change for the reference trajectory to guarantee that periodic safety is achieved. We demonstrate the effectiveness of the proposed strategy on a simulation example, where the proposed fixed-time stabilizing low-level controller shows successful satisfaction of control objectives, whereas an exponentially stabilizing low-level controller fails.

preprint2020arXiv

Approximate Time-Optimal Trajectories for Damped Double Integrator in 2D Obstacle Environments under Bounded Inputs

This article provides extensions to existing path-velocity decomposition based time optimal trajectory planning algorithm \cite{kant1986toward} to scenarios in which agents move in 2D obstacle environment under double integrator dynamics with drag term (damped double integrator). Particularly, we extend the idea of a tangent graph \cite{liu1992path} to $\calC^1$-Tangent graph to find continuously differentiable ($\calC^1$) shortest path between any two points. $\calC^1$-Tangent graph has a continuously differentiable ($\calC^1$) path between any two nodes. We also provide analytical expressions for a near time-optimal velocity profile for an agent moving on these shortest paths under the damped double integrator with bounded acceleration.

preprint2020arXiv

Fixed-Time Stable Gradient Flows: Applications to Continuous-Time Optimization

This paper proposes novel gradient-flow schemes that yield convergence to the optimal point of a convex optimization problem within a \textit{fixed} time from any given initial condition for unconstrained optimization, constrained optimization, and min-max problems. The application of the modified gradient flow to unconstrained optimization problems is studied under the assumption of gradient-dominance. Then, a modified Newton's method is presented that exhibits fixed-time convergence under some mild conditions on the objective function. Building upon this method, a novel technique for solving convex optimization problems with linear equality constraints that yields convergence to the optimal point in fixed time is developed. More specifically, constrained optimization problems formulated as min-max problems are considered, and a novel method for computing the optimal solution in fixed-time is proposed using the Lagrangian dual. Finally, the general min-max problem is considered, and a modified scheme to obtain the optimal solution of saddle-point dynamics in fixed time is developed. Numerical illustrations that compare the performance of the proposed method against Newton's method, rescaled-gradient method, and Nesterov's accelerated method are included to corroborate the efficacy and applicability of the modified gradient flows in constrained and unconstrained optimization problems.

preprint2020arXiv

Multi-Swarm Herding: Protecting against Adversarial Swarms

This paper studies a defense approach against one or more swarms of adversarial agents. In our earlier work, we employ a closed formation (`StringNet') of defending agents (defenders) around a swarm of adversarial agents (attackers) to confine their motion within given bounds, and guide them to a safe area. The control design relies on the assumption that the adversarial agents remain close enough to each other, i.e., within a prescribed connectivity region. To handle situations when the attackers no longer stay within such a connectivity region, but rather split into smaller swarms (clusters) to maximize the chance or impact of attack, this paper proposes an approach to learn the attacking sub-swarms and reassign defenders towards the attackers. We use a `Density-based Spatial Clustering of Application with Noise (DBSCAN)' algorithm to identify the spatially distributed swarms of the attackers. Then, the defenders are assigned to each identified swarm of attackers by solving a constrained generalized assignment problem. Simulations are provided to demonstrate the effectiveness of the approach.

preprint2020arXiv

Resilient Finite Time Consensus: A Discontinuous Systems Perspective

Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or discretized continuous-time systems. Fewer authors have explored applying similar resilient techniques to continuous-time systems without discretization. These prior works typically consider asymptotic convergence and make assumptions such as continuity of adversarial signals, the existence of a dwell time between switching instances for the system dynamics, or the existence of trusted agents that do not misbehave. In this paper, we expand the study of resilient continuous-time systems by removing many of these assumptions and using discontinuous systems theory to provide conditions for normally-behaving agents with nonlinear dynamics to achieve consensus in finite time despite the presence of adversarial agents.

preprint2020arXiv

Robust Distributed Fixed-Time Economic Dispatch under Time-Varying Topology

The centralized power generation infrastructure that defines the North American electric grid is slowly moving to the distributed architecture due to the explosion in use of renewable generation and distributed energy resources (DERs), such as residential solar, wind turbines and battery storage. Furthermore, variable pricing policies and profusion of flexible loads entail frequent and severe changes in power outputs required from the individual generation units, requiring fast availability of power allocation. To this end, a fixed-time convergent, fully distributed economic dispatch algorithm for scheduling optimal power generation among a set of DERs is proposed. The proposed algorithm incorporates both load balance and generation capacity constraints.