Related papers: Actuator Placement for Structural Controllability …
We study the localization of a cluster of activated vertices in a graph, from adaptively designed compressive measurements. We propose a hierarchical partitioning of the graph that groups the activated vertices into few partitions, so that…
In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…
The fully dynamic transitive closure problem asks to maintain reachability information in a directed graph between arbitrary pairs of vertices, while the graph undergoes a sequence of edge insertions and deletions. The problem has been…
Network Function Virtualization (NFV) has the potential to significantly reduce the capital and operating expenses, shorten product release cycle, and improve service agility. In this paper, we focus on minimizing the total number of…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planners do not ignore the interactive nature of the problem, and…
For compressed sensing over arbitrarily connected networks, we consider the problem of estimating underlying sparse signals in a distributed manner. We introduce a new signal model that helps to describe inter-signal correlation among…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
We propose a decentralized auction-based algorithm for the solution of dynamic task allocation problems for spatially distributed multi-agent systems. In our approach, each member of the multi-agent team is assigned to at most one task from…
Motivated by the use of high speed circuit switches in large scale data centers, we consider the problem of circuit switch scheduling. In this problem we are given demands between pairs of servers and the goal is to schedule at every time…
Growing EV adoption can worsen traffic conditions if chargers are sited without regard to their impact on congestion. We study how to strategically place EV chargers to reduce congestion using two equilibrium models: one based on congestion…
We develop greedy algorithms to approximate the optimal solution to the multi-fidelity sensor selection problem, which is a cost constrained optimization problem prescribing the placement and number of cheap (low signal-to-noise) and…
In this paper, we devise a scheduling algorithm for ordering transmission of synchrophasor data from the substation to the control center in as short a time frame as possible, within the realtime hierarchical communications infrastructure…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
Robust control theory has been successfully applied to numerous real-world problems using a small set of devices called {\it controllers}. However, the real systems represented by networks contain unreliable components and modern robust…
We address an optimal sensor placement problem through Bayesian experimental design for seismic full waveform inversion for the recovery of the associated moment tensor. The objective is that of optimally choosing the location of the…
Modern networked systems are increasingly reconfigurable, enabling demand-aware infrastructures whose resources can be adjusted according to the workload they currently serve. Such dynamic adjustments can be exploited to improve network…
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
We study the simultaneous actuator selection and controller design problem for linear quadratic regulation with Gaussian noise over a finite horizon of length $T$ and unknown system model. We consider both episodic and non-episodic settings…
This paper considers a discrete-time decision problem wherein a decision maker has to track, on average, a sequence of inputs selected from a convex set $\mathcal X \subset \mathbb{R}^d$ by choosing actions from a possibly non-convex…