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Optimal control problems with constraints ensuring safety and convergence to desired states can be mapped onto a sequence of real time optimization problems through the use of Control Barrier Functions (CBFs) and Control Lyapunov Functions…
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
Fault-tolerant complexes describe surface-code fault-tolerant protocols from a single geometric object. We first introduce fusion complexes that define a general family of fusion-based quantum computing (FBQC) fault-tolerant quantum…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Control Barrier Functions (CBFs) have been widely utilized in the design of optimization-based controllers and filters for dynamical systems to ensure forward invariance of a given set of safe states. While CBF-based controllers offer…
This paper studies the controllability backbone problem in dynamical networks defined over graphs. The main idea of the controllability backbone is to identify a small subset of edges in a given network such that any subnetwork containing…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
As quantum control approaches hardware-imposed performance limits, weak effects omitted by reduced models become consequential. Assumptions required for analytic tractability then cease to guide control design and instead constrain further…
Conversion Rate (\emph{CVR}) prediction in modern industrial e-commerce platforms is becoming increasingly important, which directly contributes to the final revenue. In order to address the well-known sample selection bias (\emph{SSB}) and…
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication…
Calibrating blackbox machine learning models to achieve risk control is crucial to ensure reliable decision-making. A rich line of literature has been studying how to calibrate a model so that its predictions satisfy explicit finite-sample…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems. It is often easier to synthesize CBFs for a Reduced order Model (RoM), and track the resulting safe behavior on…
At the intersection of dynamical systems, control theory, and formal methods lies the construction of symbolic abstractions: these typically represent simpler, finite-state models whose behavior mimics that of an underlying concrete system…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
FLASH is a publicly available high performance application code which has evolved into a modular, extensible software system from a collection of unconnected legacy codes. FLASH has been successful because its capabilities have been driven…
Automatic assembly lines have increasingly replaced human labor in various tasks; however, the automation of Flexible Flat Cable (FFC) insertion remains unrealized due to its high requirement for effective feedback and dynamic operation,…
Creating scalable and believable game societies requires balancing authorial control with computational cost. Existing scripted NPC systems scale efficiently but are often rigid, whereas fully LLM-driven agents can produce richer social…
This article describes a fully automated, credible autocoding chain for control systems. The framework generates code, along with guarantees of high level functional properties which can be independently verified. It relies on domain…