Related papers: Actuator Placement for Structural Controllability …
The coupling of some types of oscillators requires the mediation of a physical link between them, rendering the distance between oscillators a critical factor to achieve synchronization. In this paper we propose and explore a greedy…
We study the problem of causal structure learning when the experimenter is limited to perform at most $k$ non-adaptive experiments of size $1$. We formulate the problem of finding the best intervention target set as an optimization problem,…
This paper focuses on the optimal sensor placement problem for the identification of pipe failure locations in large-scale urban water systems. The problem involves selecting the minimum number of sensors such that every pipe failure can be…
The problem of column subset selection has recently attracted a large body of research, with feature selection serving as one obvious and important application. Among the techniques that have been applied to solve this problem, the greedy…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
Submodular optimization is a special class of combinatorial optimization arising in several machine learning problems, but also in cooperative control of complex systems. In this paper, we consider agents in an asynchronous, unreliable and…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
The quantification of controllability and observability has recently received new interest in the context of large, complex networks of dynamical systems. A fundamental but computationally difficult problem is the placement or selection of…
This paper studies the sensor placement problem in a networked control system for improving its security against cyber-physical attacks. The problem is formulated as a zero-sum game between an attacker and a detector. The attacker's…
Connections between nodes in optical networks are realized by lightpaths. Due to the decay of the signal, a regenerator has to be placed on every lightpath after at most $d$ hops, for some given positive integer $d$. A regenerator can serve…
Given a network with the set of vulnerable actuators (and sensors), the security index of an actuator equals the minimum number of sensors and actuators that needs to be compromised so as to conduct a perfectly undetectable attack using the…
We consider the problem of identifying a subset of nodes in a network that will enable the fastest spread of information in a decentralized environment.In a model of communication based on a random walk on an undirected graph, the optimal…
Control scheduling refers to the problem of assigning agents or actuators to act upon a dynamical system at specific times so as to minimize a quadratic control cost, such as the objective of the Linear-quadratic-Gaussian (LQG) or the…
We address the problem of efficient and unobstructed surveillance or communication in complex environments. On one hand, one wishes to use a minimal number of sensors to cover the environment. On the other hand, it is often important to…
Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators known a priori to be susceptible to failure within the…
We consider the facility location problem in the one-dimensional setting where each facility can serve a limited number of agents from the algorithmic and mechanism design perspectives. From the algorithmic perspective, we prove that the…
Many robotic systems deal with uncertainty by performing a sequence of information gathering actions. In this work, we focus on the problem of efficiently constructing such a sequence by drawing an explicit connection to submodularity.…
A novel and detailed convergence analysis is presented for a greedy algorithm that was previously introduced for operator reconstruction problems in the field of quantum mechanics. This algorithm is based on an offline/online decomposition…
This paper presents a heuristic approach for solving the placement of Analog and Mixed-Signal Integrated Circuits. Placement is a crucial step in the physical design of integrated circuits. During this step, designers choose the position…