Related papers: Observability Robustness under Sensor Failures: a …

In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number of agents. Versions of this problem arise when a fusion center reconstructs an…

In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of…

Observability is the property that enables to distinguish two different locations in $n$-dimensional state space from a reduced number of measured variables, usually just one. In high-dimensional systems it is therefore important to make…

We consider the problem where a network of sensors has to detect the presence of targets at any of $n$ possible locations in a finite region. All such locations may not be occupied by a target. The data from sensors is fused to determine…

Policies for Partially Observable Markov Decision Processes (POMDPs) are often designed using a nominal system model. In practice, this model can deviate from the true system during deployment due to factors such as calibration drift or…

Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…

Applications in machine learning, optimization, and control require the sequential selection of a few system elements, such as sensors, data, or actuators, to optimize the system performance across multiple time steps. However, in…

The use of available disturbance predictions within a nominal model predictive control formulation is studied. The main challenge that arises is the loss of recursive feasibility and stability guarantees when a persistent disturbance is…

The resilience of Supervisory Control and Data Acquisition (SCADA) systems for electric power networks for certain cyber-attacks is considered. We analyze the vulnerability of the measurement system to false data attack on communicated…

This paper considers the relevance of the concepts of observability and computability in physical theory. Observability is related to verifiability which is essential for effective computing and as physical systems are computational systems…

The quantitative understanding and precise control of complex dynamical systems can only be achieved by observing their internal states via measurement and/or estimation. In large-scale dynamical networks, it is often difficult or…

This paper addresses the resilience of large-scale closed-loop structured systems in the sense of arbitrary pole placement when subject to failure of feedback links. Given a structured system with input, output, and feedback matrices, we…

We define observability and detectability for linear switching systems as the possibility of reconstructing and respectively of asymptotically reconstructing the hybrid state of the system from the knowledge of the output for a suitable…

The difficulty of optimal control problems has classically been characterized in terms of system properties such as minimum eigenvalues of controllability/observability gramians. We revisit these characterizations in the context of the…

This paper delves into the problem of computing robust controlled invariants for monotone continuous-time systems, with a specific focus on lower-closed specifications. We consider the classes of state monotone (SM) and control-state…

This paper is concerned with a characterization of the observability for a continuous-time hidden Markov model where the state evolves as a general continuous-time Markov process and the observation process is modeled as nonlinear function…

This paper discusses the problem of estimating the state of a linear time-invariant system when some of its sensors and actuators are compromised by an adversarial agent. In the model considered in this paper, the malicious agent attacks an…

This paper considers the state reconstruction problem for discrete-time cyber-physical systems when some of the sensors can be arbitrarily corrupted by malicious attacks where the attacked sensors belong to an unknown set. We first prove…

We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…

There are several forms of irreducibility in computing systems, ranging from undecidability to intractability to nonlinearity. This paper is an exploration of the conceptual issues that have arisen in the course of investigating speed-up…