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In this paper, we consider the synchronization of heterogeneous pulse-coupled oscillators (PCOs), where some of the oscillators might be faulty or malicious. The oscillators interact through identical pulses at discrete instants and evolve…
We consider a power-constrained sensor network, consisting of multiple sensor nodes and a fusion center (FC), that is deployed for the purpose of estimating a common random parameter of interest. In contrast to the distributed framework,…
Unknown nonlinear dynamics can limit the performance of model-based feedforward control. The aim of this paper is to develop a feedforward control framework for systems with unknown, typically nonlinear, dynamics. To address the unknown…
We study graph-based Laplacian semi-supervised learning at low labeling rates. Laplacian learning uses harmonic extension on a graph to propagate labels. At very low label rates, Laplacian learning becomes degenerate and the solution is…
Diffusion Transformers require repeated denoiser evaluations during iterative sampling, making inference computationally expensive. Cache-based acceleration reduces this cost by reusing intermediate representations across denoising steps,…
The mean-field framework has been used to find approximate solutions to problems involving very large populations of symmetric, anonymous agents, which may be intractable by other methods. The cooperative mean-field control (MFC) problem…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
This paper considers a general data-fitting problem over a networked system, in which many computing nodes are connected by an undirected graph. This kind of problem can find many real-world applications and has been studied extensively in…
This paper presents a data-driven Model Predictive Control (MPC) for energy-efficient urban road driving for connected, automated vehicles. The proposed MPC aims to minimize total energy consumption by controlling the vehicle's longitudinal…
We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…
The pseudoinverse of a graph Laplacian is used in many applications and fields, such as for instance in the computation of the effective resistance in electrical networks, in the calculation of the hitting/commuting times for a Markov chain…
In this paper, a novel full form dynamic linearization (FFDL) data-driven model-free adaptive predictive control (MFAPC) method is proposed for a class of discrete-time single-input single-output nonlinear systems. The novelty of MFAPC is…
Modern high-performance computing and Internet-of-Things deployments increasingly generate large volumes of signal data that must be compressed efficiently on resource-constrained acquisition devices and decompressed at scale on centralized…
We consider a basic model of a dynamical distribution network, modeled as a directed graph with storage variables corresponding to every vertex and flow inputs corresponding to every edge, subject to unknown but constant inflows and…
In this paper, we investigate communication strategies for the multiple access channel with feedback and correlated sources (MACFCS). The MACFCS models a wireless sensor network scenario in which sensors distributed throughout an arbitrary…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
Output feedback controlled synchronization problems for a class of nonlinear unstable systems under information constraints imposed by limited capacity of the communication channel are analyzed. A binary time-varying coder-decoder scheme is…
In this note we investigate the problem of global exponential synchronization of multi-agent systems described by nonlinear input affine dynamics. We consider the case of networks described by undirected connected graphs possibly without…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
This paper studies optimal control and stabilization problems for continuous-time mean-field systems with input delay, which are the fundamental development of control and stabilization problems for mean-field systems. There are two main…