Related papers: Analysis and Design of Actuation-Sensing-Communica…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
By sharing local sensor information via Vehicle-to-Vehicle (V2V) wireless communication networks, Cooperative Adaptive Cruise Control (CACC) is a technology that enables Connected and Automated Vehicles (CAVs) to drive autonomously on the…
We consider parameterized concurrent systems consisting of a finite but unknown number of components, obtained by replicating a given set of finite state automata. Components communicate by executing atomic interactions whose participants…
In this paper, structural controllability of a leader-follower multi-agent system with multiple leaders is studied from a graph-theoretic point of view. The problem of preservation of structural controllability under simultaneous failures…
This letter presents a geometric input-output analysis of distance-based formation control, focusing on the phenomenon of steady-state signal blocking between actuator and sensor pairs. We characterize steady-state multivariable…
The theory of mixed-feedback systems provides an effective framework for the design of robust and tunable oscillations in nonlinear systems characterized by interleaved fast positive and slow negative feedback loops. The goal of this paper…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
Cybersecurity of discrete event systems (DES) has been gaining more and more attention recently, due to its high relevance to the so-called 4th industrial revolution that heavily relies on data communication among networked systems. One key…
Symbolic models have recently spurred the interest of the research community because they offer a correct-by-design approach to the control of embedded and cyber-physical systems. In this paper we address construction of symbolic models for…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
While perception systems in Connected and Autonomous Vehicles (CAVs), which encompass both communication technologies and advanced sensors, promise to significantly reduce human driving errors, they also expose CAVs to various cyberattacks.…
Integrated sensing and communication (ISAC) base stations can provide communication and wide range sensing information for vehicles via downlink (DL) transmission, thus enhancing vehicle driving safety. One major challenge for realizing…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
Autonomous and connected vehicles are rapidly evolving, integrating numerous technologies and software. This progress, however, has made them appealing targets for cybersecurity attacks. As the risk of cyber threats escalates with this…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
The channel state information (CSI) of an eavesdropper is crucial for physical layer security (PLS) design, but it is difficult to obtain due to the passive and non-cooperative nature of the eavesdropper. To this end, integrated sensing and…
Increased connectivity and remote reprogrammability/reconfigurability features of embedded devices in current-day power systems (including interconnections between information technology -- IT -- and operational technology -- OT --…
This study addresses the intricate challenge of decentralized output-feedback control for stochastic non-triangular nonlinear interconnected systems with unknown time-varying sensor sensitivity in a dynamic event-triggered context. The…
This paper studies the stability and convergence properties of a class of multi-agent concurrent learning (CL) algorithms with momentum and restart. Such algorithms can be integrated as part of the estimation pipelines of data-enabled…
Cybersecurity is being fundamentally reshaped by foundation-model-based artificial intelligence. Large language models now enable autonomous planning, tool orchestration, and strategic adaptation at scale, challenging security architectures…