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Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Deadlock detection scheduling is an important, yet often overlooked problem that can significantly affect the overall performance of deadlock handling. Excessive initiation of deadlock detection increases overall message usage, resulting in…
A chiplet is an integrated circuit that encompasses a well-defined subset of an overall system's functionality. In contrast to traditional monolithic system-on-chips (SoCs), chiplet-based architecture can reduce costs and increase…
Recent data center applications rely on lossless networks to achieve high network performance. Lossless networks, however, can suffer from in-network deadlocks induced by hop-by-hop flow control protocols like PFC. Once deadlocks occur,…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
Cognitive radio (CR) technology will have significant impacts on upper layer performance in mobile ad hoc networks (MANETs). In this paper, we study topology control and routing in CR-MANETs. We propose a distributed Prediction-based…
As the modern CPU, GPU, and NPU chip design complexity and transistor counts keep increasing, and with the relentless shrinking of semiconductor technology nodes to nearly 1 nanometer, the placement and routing have gradually become the two…
HyperSurfaces (HSFs) consist of structurally reconfigurable metasurfaces whose electromagnetic properties can be changed via a software interface, using an embedded miniaturized network of controllers. With the HSF controllers,…
The paper presents a topology-agnostic greedy protocol for network-on-chip routing. The proposed routing algorithm can tolerate any number of permanent faults, and is proven to be deadlock-free. We introduce a specialized variant of the…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
Machine learning applied to architecture design presents a promising opportunity with broad applications. Recent deep reinforcement learning (DRL) techniques, in particular, enable efficient exploration in vast design spaces where…
Scaling up hardware systems has become an important tactic for improving performance as Moore's law fades. Unfortunately, simulations of large hardware systems are often a design bottleneck due to slow throughput and long build times. In…
On the advent of the slow death of Moore's law, the silicon industry is moving towards a new era of chiplets. The automotive industry is experiencing a profound transformation towards software-defined vehicles, fueled by the surging demand…
We give a livelock free routing algorithm for any allowed network. Unlike some other solutions to this problem: 1) packets entering the network have an absolute upper bound on the time to reach their destination; 2) under light loads,…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
We introduce a model of the Relentless Congestion Control proposed by Matt Mathis. Relentless Congestion Control (RCC) is a modification of the AIMD (Additive Increase Multiplicative Decrease) congestion control which consists in decreasing…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
This paper addresses the problem of output voltage regulation for multiple DC-DC converters connected to a grid, and prescribes a robust scheme for sharing power among different sources. Also it develops a method for sharing 120 Hz ripple…