Systems and Control
The paper addresses state estimation for discrete-time systems with binary (threshold) measurements by following a Maximum A posteriori Probability (MAP) approach and exploiting a Moving Horizon (MH) approximation of the MAP cost-function.…
Joint estimation and scheduling for sensor networks is considered in a system formed by two sensors, a scheduler and a remote estimator. Each sensor observes a Gaussian source, which may be correlated. The scheduler observes the output of…
The transient stability of power systems and synchronization of non-uniform Kuramoto oscillators are closely related problems. In this paper, we develop a novel regional stability analysis framework based on the proposed region-parametrized…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
Crowdsourcing relies on people's contributions to meet product- or system-level objectives. Crowdsourcing-based methods have been implemented in various cyber-physical systems and realtime markets. This paper explores a framework for…
In a recent paper, it was shown that (i) any reciprocal system with a proper transfer function possesses a signature-symmetric realization in which each state has either even or odd parity; and (ii) any reciprocal and passive behavior can…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
In this paper, we extend classical results on (i) signature symmetric realizations, and (ii) signature symmetric and passive realizations, to systems which need not be controllable. These results are motivated in part by the existence of…
We study the problem of scheduling sensors in a resource-constrained linear dynamical system, where the objective is to select a small subset of sensors from a large network to perform the state estimation task. We formulate this problem as…
The paper addresses state estimation for linear discrete-time systems with binary (threshold) measurements. A Moving Horizon Estimation (MHE) approach is followed and different estimators, characterized by two different choices of the cost…
In current power distribution systems, one of the most challenging operation tasks is to coordinate the network- wide distributed energy resources (DERs) to maintain the stability of voltage magnitude of the system. This voltage control…
The note considers the problem of computing pure Nash equilibrium (NE) strategies in distributed (i.e., network-based) settings. The paper studies a class of inertial best response dynamics based on the fictitious play (FP) algorithm. It is…
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
In this article we introduce a variational approach to collision avoidance of multiple agents evolving on a Riemannian manifold and derive necessary conditions for extremals. The problem consists of finding non-intersecting trajectories of…
Actigraphy has been widely used for the analysis of circadian rhythm. Current practice applies regression analysis to data from multiple days to estimate the circadian phase. This paper presents a filtering method for online processing of…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
A reduction of a source distribution is a collection of smaller sized distributions that are collectively equivalent to the source distribution with respect to the property of decomposability. That is, an arbitrary language is decomposable…
Merging two Control Lyapunov Functions (CLFs) means creating a single "new-born" CLF by starting from two parents functions. Specifically, given a "father" function, shaped by the state constraints, and a "mother" function, designed with…
Considering the expanding useofembedded devices equipped with rechargeable batteries, especially Li-ionbatteries that have higher power and energy density, the battery management systemis becomingincreasingly important. Infact,…
We consider the problem of classifying trajectories generated by dynamical systems. We investigate a model-based approach, the common approach in control engineering, and a data-driven approach based on Support Vector Machines, a popular…