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We consider the problem of learning a realization for a linear time-invariant (LTI) dynamical system from input/output data. Given a single input/output trajectory, we provide finite time analysis for learning the system's Markov…
Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…
We study the problem of learning to stabilize (LTS) a linear time-invariant (LTI) system. Policy gradient (PG) methods for control assume access to an initial stabilizing policy. However, designing such a policy for an unknown system is one…
The increasing complexity of neural networks and the energy consumption associated with training and inference create a need for alternative neuromorphic approaches, e.g. using optics. Current proposals and implementations rely on physical…
Neuromorphic engineering is essentially the development of artificial systems, such as electronic analog circuits that employ information representations found in biological nervous systems. Despite being faster and more accurate than the…
Algebraically speaking, linear time-invariant (LTI) systems can be considered as modules. In this framework, controllability is translated as the freeness of the system module. Optimal control mainly relies on quadratic Lagrangians and the…
Rigorous testing of autonomous robots, such as self-driving vehicles, is essential to ensure their safety in real-world deployments. This requires building high-fidelity simulators to test scenarios beyond those that can be safely or…
This paper proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time-invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices…
This paper addresses the problem of robust dynamic output stabilization of FO-LTI interval systems with the fractional order 0<{\alpha}<2, in terms of linear matrix inequalities (LMIs). Our purpose is to design a robust dynamic output…
Event cameras trigger events asynchronously and independently upon a sufficient change of the logarithmic brightness level. The neuromorphic sensor has several advantages over standard cameras including low latency, absence of motion blur,…
In the 1960s, a moment approach to linear time varying (LTV) minimal norm impulsive optimal control was developed, as an alternative to direct approaches (based on discretization of the equations of motion and linear programming) or…
This paper addresses the finite-time non-overshooting leader-following consensus problem for multi-agent systems, whose agents are modeled by a dynamical system topologically equivalent to the integrator chain. Based on the weighted…
This paper presents a novel approach for the identification of linear time-periodic (LTP) systems in continuous time. This method is based on harmonic modeling and consists in converting any LTP system into an equivalent LTI system with…
On-line detection of anomalies in time series is a key technique used in various event-sensitive scenarios such as robotic system monitoring, smart sensor networks and data center security. However, the increasing diversity of data sources…
Achieving optimal steady-state performance in real-time is an increasingly necessary requirement of many critical infrastructure systems. In pursuit of this goal, this paper builds a systematic design framework of feedback controllers for…
Flow boiling is an efficient heat transfer mechanism capable of dissipating high heat loads with minimal temperature variation, making it an ideal thermal management method. However, sudden shifts between flow regimes can disrupt thermal…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
This paper presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class…
Spiking neural networks (SNNs) promise energy-efficient artificial intelligence on neuromorphic hardware but struggle with tasks requiring both fast adaptation and long-term memory, especially in continual learning. We propose Local…
Micro-objects levitated in a vacuum are an exciting platform for precision sensing due to their low dissipation motion and the potential for control at the quantum level. Arrays of such sensors would offer increased sensitivity,…