Related papers: Hybrid Simulation Safety: Limbos and Zero Crossing…
Simulation models are an absolute necessity in the human and social sciences, which can only very exceptionally use experimental science methods to construct their knowledge. Models enable the simulation of social processes by replacing the…
This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. A sliding mode is coped with differential-algebraic equations (DAEs) and that guarantees accurate tracking of the sliding motion…
The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated and sufficient conditions for asymptotic stability of a set are provided. Hybrid dynamical systems are modeled in terms of hybrid…
This work investigates the use of digital twins for dynamical system modeling and control, integrating physics-based, data-driven, and hybrid approaches with both traditional and AI-driven controllers. Using a miniature greenhouse as a test…
Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
Accurate simulation of complex physical systems enables the development, testing, and certification of control strategies before they are deployed into the real systems. As simulators become more advanced, the analytical tractability of the…
Robots are soon going to be deployed in non-industrial environments. Before society can take such a step, it is necessary to endow complex robotic systems with mechanisms that make them reliable enough to operate in situations where the…
Event-B is a well known methodology for the verified design and development of systems that can be characterised as discrete transition systems. Hybrid Event-B is a conservative extension that interleaves the discrete transitions of Event-B…
Dense human flow has been a concern for the safety of public events for a long time. Macroscopic pedestrian models, which are mainly based on fluid dynamics, are often used to simulate huge crowds due to their low computational costs…
Even as technology and performance gains are made in the sphere of automated driving, safety concerns remain. Vehicle simulation has long been seen as a tool to overcome the cost associated with a massive amount of on-road testing for…
The success of smart environments largely depends on their smartness of understanding the environments' ongoing situations. Accordingly, this task is an essence to smart environment central processors. Obtaining knowledge from the…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
A significant part of contemporary research in autonomous vehicles is dedicated to the development of safety critical systems where state-of-the-art artificial intelligence (AI) algorithms, like computer vision (CV), can play a major role.…
This paper surveys the primary computational hurdles of Energy Systems optimization coming from different sources: model-induced complexity, optimization algorithm requirements, and uncertainties handling (both aleatoric and epistemic).…
Hybrid automata are a natural framework for modeling and analyzing systems which exhibit a mixed discrete continuous behaviour. However, the standard operational semantics defined over such models implicitly assume perfect knowledge of the…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
Safety is one of the most critical factors in robotics, especially when robots have to collaborate with people in a~shared environment. Testing the physical systems, however, must focus on much more than just software. One of the common…
Traffic intersections are important scenes that can be seen almost everywhere in the traffic system. Currently, most simulation methods perform well at highways and urban traffic networks. In intersection scenarios, the challenge lies in…
This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…