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We study the presence of a logarithmic time scale in discrete approximations of Sawtooth Maps on the 2--torus. The techniques used are suggested by quantum mechanical similarities, and are based on a particular class of states on the torus,…

Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…

This paper presents a systematic framework for computing formally guaranteed trajectory tracking error bounds for autonomous helicopters based on Robust Positive Invariant (RPI) sets. The approach focuses on establishing a closed-loop…

Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-motivated priors have been considered for such approaches,…

We present an algorithm for steering the output of a linear system from a feasible initial condition to a desired target position, while satisfying input constraints and non-convex output constraints. The system input is generated by a…

We consider the problem of numerically identifying roots of a target function - under the constraint that we can only measure the derivatives of the function at a given point, not the function itself. We describe and characterize two…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…

We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…

This paper studies runtime monitoring for persistent surveillance by autonomous robots when the autonomy stack is a black box. The environment is partitioned into finitely many parts, each carrying an uncertainty state that decreases when…

This paper studies closed-loop identification of linear periodically time-varying (LPTV) plants, with emphasis on open-loop unstable plants for which open-loop experiments are not practically available. The central contribution is an exact…

Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…

The question whether a time series behaves as a random walk or as a station- ary process is an important and delicate problem, particularly arising in financial statistics, econometrics, and engineering. This paper studies the problem to…

This study proposes a one-shot data-driven tuning method for a fractional-order proportional-integral-derivative (FOPID) controller. The proposed method tunes the FOPID controller in the model-reference control formulation. A loss function…

This paper concerns some spectral properties of the scalar dynamical system defined by a linear delay-differential equation with two positive delays. More precisely, the existing links between the delays and the maximal multiplicity of the…

Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…

Network-oriented research has been increasingly popular in many scientific areas. In neuroscience research, imaging-based network connectivity measures have become the key for understanding brain organizations, potentially serving as…

The Consistency of the Closed-Loop Simplified Refined Instrumental Variable method for Continuous-time system (CLSRIVC) is analysed based on sampled data. It is proven that the CLSRIVC estimator is not consistent when a continuous-time…

Failures and anomalies in large-scale software systems are unavoidable incidents. When an issue is detected, operators need to quickly and correctly identify its location to facilitate a swift repair. In this work, we consider the problem…

This paper investigates the structural functional observability (SFO) and structural output controllability (SOC) of a class of systems with generically diagonalizable state matrices and explores the associated minimal sensor and actuator…