Related papers: A generic fixed-point iteration-based hierarchical…
Certifying feasibility in decision-making, critical in many industries, can be framed as a constraint satisfaction problem. This paper focuses on characterising a subset of parameter values from an a priori set that satisfy constraints on a…
Advanced reactors to be deployed in the coming decades will face deregulated energy markets, and may adopt flexible operation to boost profitability. To aid in the transition from baseload to flexible operation paradigm, autonomous…
A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller…
Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-level decision making, low-level motor activation, and local…
CERN is now setting up String 2, a full-size prototype of a regular cell of the LHC arc. It is composed of two quadrupole, six dipole magnets, and a separate cryogenic distribution line (QRL) for the supply and recovery of the cryogen. An…
Optimal management of thermal and energy grids with fluctuating demand and prices requires to orchestrate the generation units (GU) among all their operating modes. A hierarchical approach is proposed to control coupled energy nonlinear…
Abstraction and refinement is widely used in software development. Such techniques are valuable since they allow to handle even more complex systems. One key point is the ability to decompose a large system into subsystems, analyze those…
This paper proposes a novel heterogeneous grid convolution that builds a graph-based image representation by exploiting heterogeneity in the image content, enabling adaptive, efficient, and controllable computations in a convolutional…
This paper develops a control-theoretic framework for analyzing agentic systems embedded within feedback control loops, where an AI agent may adapt controller parameters, select among control strategies, invoke external tools, reconfigure…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
Thermostatically controlled loads such as refrigerators are exceptionally suitable as a flexible demand resource. This paper derives a decentralised load control algorithm for refrigerators. It is adapted from an existing continuous time…
This paper addresses questions regarding controllability for `generic parameter' dynamical systems, i.e. the question whether a dynamical system is `structurally controllable'. Unlike conventional methods that deal with structural…
Hierarchical optimization architectures are used in power systems to manage disturbances and phenomena that arise at multiple spatial and temporal scales. We present a graph modeling abstraction for representing such architectures and an…
In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…
Controllability determines whether a system's state can be guided toward any desired configuration, making it a fundamental prerequisite for designing effective control strategies. In the context of networked systems, controllability is a…
Controlling real-world networked systems, including ecological, biomedical, and engineered networks that exhibit higher-order interactions, remains challenging due to inherent nonlinearities and large system scales. Despite extensive…
The paper describes multistage design of composite (modular) systems (i.e., design of a system trajectory). This design process consists of the following: (i) definition of a set of time/logical points; (ii) modular design of the system for…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…