Related papers: FC$^3$: Feasibility-Based Control Chain Coordinati…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Decentralization is a fundamental design element of the Web3 economy. Blockchains and distributed consensus mechanisms are touted as fault-tolerant, attack-resistant, and collusion-proof because they are decentralized. Recent analyses,…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
Within the context of structured networks, this paper introduces the concept of the Fixed Strongly Structurally Controllable Subspace (FSSCS), enabling a comprehensive characterization of controllable subspaces. From a graph-theoretical…
We study the strong structural controllability (SSC) of diffusively coupled networks, where the external control inputs are injected to only some nodes, namely the leaders. For such systems, one measure of controllability is the dimension…
Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…
With the increasing need for safe control in the domain of autonomous driving, model-based safety-critical control approaches are widely used, especially Control Barrier Function (CBF)-based approaches. Among them, Exponential CBF (eCBF) is…
Retention of residual skills for persons who partially lose their cognitive or physical ability is of utmost importance. Research is focused on developing systems that provide need-based assistance for retention of such residual skills.…
This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding…
We present SOCKS, a data-driven stochastic optimal control toolbox based in kernel methods. SOCKS is a collection of data-driven algorithms that compute approximate solutions to stochastic optimal control problems with arbitrary cost and…
Long-horizon finite-control-set model predictive control (FCS-MPC) can improve transient regulation and flying-capacitor balancing in flying-capacitor three-level boost converters (FC-TLBCs). However, searching over switching sequences…
This tutorial provides a critical review of the practical application of Control Barrier Functions (CBFs) in robotic safety. While the theoretical foundations of CBFs are well-established, I identify a recurring gap between the mathematical…
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…
Enforcing multiple constraints based on the concept of control barrier functions (CBFs) is a remaining challenge because each of the CBFs requires a condition on the control inputs to be satisfied which may easily lead to infeasibility…
Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time…
The Simplex Architecture is a runtime assurance framework where control authority may switch from an unverified and potentially unsafe advanced controller to a backup baseline controller in order to maintain the safety of an autonomous…
Supervisory control theory provides means to synthesize supervisors for systems with discrete-event behavior from models of the uncontrolled plant and of the control requirements. The applicability of supervisory control theory often fails…
Several concepts on the measure of observability, reachability, and robustness are defined and illustrated for both linear and nonlinear control systems. Defined by using computational dynamic optimization, these concepts are applicable to…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
We study the problem of empirical coordination subject to a fidelity criterion for a general set-up. We prove a result which indicates a strong connection between our framework and the framework of empirical coordination developed in [1].…