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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

Author

Wenqi Cai

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Preprint Aug 2026

Anytime Primal--Dual Certification of the Maximum Disturbance Radius in Robust MPC

Adjustable-set robust model predictive control (MPC) characterizes a state-dependent maximum disturbance radius, which can be interpreted as a certified robustness reserve. Existing methods primarily focus on optimizing and propagating this reserve under in-set disturbances. This letter investigates how much reserve re...

Wenqi Cai, M. Abdelghany, K. Vamvoudakis et al. · 0 citations
Preprint Aug 2026

Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation

This paper evaluates whether a horizon-weighted sum of those multipliers, a dual stress signal, provides a hazard monitor complementary to the geometric warnings the same state already supports, against a battery of fifteen geometric detectors tuned to a matched false-alarm budget.

Jamilé Chahine, Wenqi Cai, John Abanes et al. · 0 citations
Open access Jul 2026

Visual Safe Human-to-Humanoid Motion Imitation

An online vision-aided safe human-to-humanoid motion imitation framework that integrates skeleton-based upper-body pose estimation, joint-space retargeting, and capsule-based Control Barrier Function Quadratic Program (CBF-QP) safety filtering is presented.

Wenqi Cai, John Abanes, N. Evangeliou et al. · 0 citations

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