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I develop a continuous-time model in which an incumbent batch-service provider faces stochastic passenger arrivals and must decide when to dispatch under the threat of customer defection to a faster entrant. The incumbent's problem is…

In this paper, we consider controlled linear dynamical systems in which the controller has only access to a compressed version of the system state. The technical problem we investigate is that of allocating compression resources over time…

This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…

This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…

We consider a problem where autonomous agents enter a dynamic and unknown environment described by a network of weighted arcs. These agents move within the network from node to node according to a decentralized policy using only local…

In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

We investigate the problem of optimally observing a finite set of targets using a mobile agent over an infinite time horizon. The agent is tasked to move in a network-constrained structure to gather information so as to minimize the…

The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small…

This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…

Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment…

Drones are currently seen as a viable way for improving the distribution of parcels in urban and rural environments, while working in coordination with traditional vehicles like trucks. In this paper we consider the parallel drone…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration. In other words, safety and survivability constraints play a…

We consider multi-hop wireless networks serving multiple flows in which only packets that meet hard end-to-end deadline constraints are useful, i.e., if a packet is not delivered to its destination node by its deadline, it is dropped from…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Predicting road traffic speed is a challenging task due to different types of roads, abrupt speed change and spatial dependencies between roads; it requires the modeling of dynamically changing spatial dependencies among roads and temporal…

This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…

Driven barrier crossings are pervasive in optical-trapping experiments and steered molecular-dynamics simulations. Despite the high fidelity of control, the freedom in the choice of driving protocol is rarely exploited to improve…