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This paper develops a polyhedral approach to the design, analysis, and computation of dynamic allocation indices for scheduling binary-action (engage/rest) Markovian stochastic projects which can change state when rested (restless bandits…
A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…
Learning-based methods for dexterous manipulation have made notable progress in recent years. However, learned policies often still lack reliability and exhibit limited robustness to important factors of variation. One failure pattern that…
Recently, Directed Acyclic Graph (DAG) based Distributed Ledgers have been proposed for various applications in the smart mobility domain [1]. While many application studies have been described in the literature, an open problem in the DLT…
Recent work has shown that reinforcement learning (RL) is a promising approach to control dynamical systems described by partial differential equations (PDE). This paper shows how to use RL to tackle more general PDE control problems that…
This paper proposes a control algorithm for stable implementation of asynchronous parallel quadratic programming (PQP) through dual decomposition technique. In general, distributed and parallel optimization requires synchronization of data…
Implementation is a common problem with feedback laws with distributed delays. This paper focuses on a specific aspect of the implementation problem for predictor-based feedback laws: the problem of the approximation of the predictor…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
Feedback control problems involving autonomous polynomial systems are prevalent, yet there are limited algorithms and software for approximating their solution. This paper represents a step forward by considering the special case of the…
This paper investigates the problem of data-driven stabilization for linear discrete-time switched systems with unknown switching dynamics. In the absence of noise, a data-based state feedback stabilizing controller can be obtained by…
Property Directed Reachability (PDR) is a widely used technique for formal verification of hardware and software systems. This paper presents an incremental version of PDR (IPDR), which enables the automatic verification of system instances…
This paper addresses boundary prescribed-time stabilization of a one-dimensional heat equation with spatially and temporally varying coefficients. In contrast to asymptotic or exponential stabilization, prescribed-time stabilization ensures…
This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback…
This paper studies the problem of stability of a parameterized delay differential equations (DDE see equation (0.1)). After discretizing the DDE (0.1), we show that the problem can be equivalently casted into a semi-definite programming…
Proportional-integral-derivative (PID) controllers have been widely used in the process industry. However, the satisfactory control performance of a PID controller depends strongly on the tuning parameters. Conventional PID tuning methods…
Delay-Differential Equations (DDEs) are the most common representation for systems with delay. However, the DDE representation is limited. In network models with delay, the delayed channels are low-dimensional and accounting for this…
Many tasks executed in dynamic distributed systems, such as sensor networks or enterprise environments with bring-your-own-device policy, require central coordination by a leader node. In the past it has been proven that distributed leader…
This study presents two analytical closed-form PI controller tuning solutions for second-order plants with real poles, each achieving monotonic step response and minimum settling time. The first solution employs pole-zero cancellation,…
We develop delay-compensating feedback laws for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be unavailable…
In many scenarios of practical interest, labeled data from a target distribution are scarce while labeled data from a related source distribution are abundant. One particular setting of interest arises when the target label space is a…