Related papers: Delay-aware Robust Control for Safe Autonomous Dri…
Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation requires computing a prediction horizon…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…
Traditionally, the delay margin of a looped system is computed by considering both the controller and system representations that evolve in the same space (e.g. either continuous or discrete-time). However, as in practice the system is…
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…
The safety of autonomous vehicles (AVs) depends on their ability to perform complex computations on high-volume sensor data in a timely manner. Their ability to run these computations with state-of-the-art models is limited by the…
This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
We introduce a novel data-driven method to mitigate the risk of cascading failures in delayed discrete-time Linear Time-Invariant (LTI) systems. Our approach involves formulating a distributionally robust finite-horizon optimal control…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
We consider the problem of scheduling transmissions over low-latency wireless communication links to control various control systems. Low-latency requirements are critical in developing wireless technology for industrial control and Tactile…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…