Related papers: Real-time Dynamic-Mode Scheduling Using Single-Int…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
Real-time scheduling algorithms proposed in the literature are often based on worst-case estimates of task parameters. The performance of an open-loop scheme can be degraded significantly if there are uncertainties in task parameters, such…
This paper studies optimal time-bounded control in multi-mode systems with discrete costs. Multi-mode systems are an important subclass of linear hybrid systems, in which there are no guards on transitions and all invariants are global.…
Linear-Rate Multi-Mode Systems is a model that can be seen both as a subclass of switched linear systems with imposed global safety constraints and as hybrid automata with no guards on transitions. We study the existence and design of a…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…
Hybrid quantum-classical algorithms hold great promise for solving quantum control problems on near-term quantum computers. In this work, we employ the hybrid framework that integrates digital quantum simulation with classical optimization…
This paper describes a method for scheduling the events of a switched system to achieve an optimal performance. The approach has guarantees on convergence and computational complexity that parallel derivative-based iterative optimization…
This paper investigates a sample-based solution to the hybrid mode control problem across non-differentiable and algorithmic hybrid modes. Our approach reasons about a set of hybrid control modes as an integer-based optimization problem…
When optimizing real-time systems, designers often face a challenging problem where the schedulability constraints are non-convex, non-continuous, or lack an analytical form to understand their properties. Although the optimization…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
This paper considers the problem of computing the schedule of modes in a switched dynamical system, that minimizes a cost functional defined on the trajectory of the system's continuous state variable. A recent approach to such optimal…
This paper is concerned with a stochastic linear-quadratic optimal control problem in a finite time horizon, where the coefficients of the control system are allowed to be random, and the weighting matrices in the cost functional are…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
This paper investigates the problem of regulating in real time a linear dynamical system to the solution trajectory of a time-varying constrained convex optimization problem. The proposed feedback controller is based on an adaptation of the…
Real time system technology traditionally developed for safety critical systems, has now been extended to support multimedia systems and virtual reality. A large number of real-time application, related to multimedia and adaptive control…
This paper presents a distributed continuous-time optimization framework aimed at overcoming the challenges posed by time-varying cost functions and constraints in multi-agent systems, particularly those subject to disturbances. By…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
The problem of step tracking control with a switching input and without any continuous-valued inputs is considered. The control objective is to reduce the number of switchings to a minimal value. This approach finds interesting applications…