Related papers: Large Deviations for the Reliability Assessment of…

We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…

We consider the problem of robotic planning under uncertainty in this paper. This problem may be posed as a stochastic optimal control problem, a solution to which is fundamentally intractable owing to the infamous "curse of…

Robustness and cascading failures in interdependent systems has been an active research field in the past decade. However, most existing works use percolation-based models where only the largest component of each network remains functional…

A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…

This paper examines the properties of output-redundant systems, that is, systems possessing a larger number of outputs than inputs, through the lenses of the geometric approach of Wonham et al. We begin by formulating a simple output…

This paper addresses the problem of controlling constrained systems subject to disturbances in the case where controller and system are connected over a lossy network. To do so, we propose a novel framework that splits the concept of…

Redundant architectures can improve the reliability of complex systems. However, component dependencies can affect the architecture and negate the benefit of redundancy. In this paper, we develop three component dependency models and…

Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…

This paper investigates the robustness of stochastic optimal control for controlled regime switching diffusions. We consider systems driven by both continuous fluctuations and discrete regime changes, allowing for model misspecification in…

In natural phenomena, data distributions often deviate from normality. One can think of cataclysms as a self-explanatory example: events that occur almost never, and at the same time are many standard deviations away from the common…

In spite of extended recent interest in System Reliability-Based Design Optimization (System RBDO) and life-cycle cost or Risk Optimization (RO), there is a lack of published studies on optimal design of redundant hyperstatic systems with…

This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

As sensing and instrumentation play an increasingly important role in systems controlled over wired and wireless networks, the need to better understand delay-sensitive communication becomes a prime issue. Along these lines, this article…

We study the mutual percolation of a system composed of two interdependent random regular networks. We introduce a notion of distance to explore the effects of the proximity of interdependent nodes on the cascade of failures after an…

We consider a multiple-input, multiple-output (MIMO) wideband Rayleigh block fading channel where the channel state is unknown to both the transmitter and the receiver and there is only an average power constraint on the input. We compute…

A discussion about dependences of the (fractal) basin boundary dimension with the definition of the basins and the size of the exits is presented for systems with one or more exits. In particular, it is shown that the dimension is largely…

Many critical infrastructure systems have network structure and are under stress. Despite their national importance, the complexity of large-scale transport networks means we do not fully understand their vulnerabilities to cascade…

Redundancy represents a strategy for achieving high availability. However, various factors, known as singleness factors, necessitate corresponding redundancy measures. The absence of a systematic approach for identifying these singleness…

Recent work in the area of interdependent networks has focused on interactions between two systems of the same type. However, an important and ubiquitous class of systems are those involving monitoring and control, an example of…

We generalize the notion of the stopping redundancy in order to study the smallest size of a trapping set in Tanner graphs of linear block codes. In this context, we introduce the notion of the trapping redundancy of a code, which…