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This paper proposes an algorithm for synthesis of clock-follow-data designs that provides robustness against timing violations for RSFQ circuits while maintaining high performance and minimizing area costs. Since superconducting logic gates…
Partial Automation (PA) with intelligent support systems has been introduced in industrial machinery and advanced automobiles to reduce the burden of long hours of human operation. Under PA, operators perform manual operations (providing…
Due to the rise of distributed energy resources, the control of networks of grid-forming inverters is now a pressing issue for power system operation. Droop control is a popular control strategy in the literature for frequency control of…
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…
In this paper, we consider safety message transmission in a dense vehicular network. With increasing vehicular network density, the collision rate increases when multiple vehicles transmit safety messages simultaneously. To address this…
The teleoperated driving (TD) scenario comes with stringent Quality of Service (QoS) communication constraints, especially in terms of end-to-end (E2E) latency and reliability. In this context, Predictive Quality of Service (PQoS), possibly…
This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…
In this paper, we propose a dynamic agile reconfigurable intelligent surface antenna (DARISA) array integrated into multi-input multi-output (MIMO) transceivers. Each DARISA comprises a number of metasurface elements activated…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Teleoperation can be very difficult due to limited perception, high communication latency, and limited degrees of freedom (DoFs) at the operator side. Autonomous teleoperation is proposed to overcome this difficulty by predicting user…
Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…
Centralized Multiport Networked Dynamic (CMND) systems have emerged as a key architecture with applications in several complex network systems, such as multilateral telerobotics and multi-agent control. These systems consist of a hub…
This paper presents a new simulation-based approach to address the stochastic Dynamic Traffic Assignment (DTA) problem, focusing on large congested networks and dynamic settings. The proposed methodology incorporates a random walk model…
The Dynamic Targeting (DT) mission concept is an approach to satellite observation in which a lookahead sensor gathers information about the upcoming environment and uses this information to intelligently plan observations. Previous work…
One of the biggest challenges in operating massive multiple-input multiple-output systems is the acquisition of accurate channel state information at the transmitter. To take up this challenge, time division duplex is more favorable thanks…
This paper addresses the stability conditions of the sampled-data teleoperation systems consisting continuous time master, slave, operator, and environment with discrete time controllers over general communication networks. The output…
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
Many applications require positioning. Time of Flight (ToF) methods calculate distances by measuring the propagation time of signals. We present a novel ToF localization method. Our new approach works infrastructure-less, without…
Multi-agent motion planning (MAMP) is a critical challenge in applications such as connected autonomous vehicles and multi-robot systems. In this paper, we propose a space-time conflict resolution approach for MAMP. We formulate the problem…