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This work addresses the challenge of enabling a team of quadrupedal robots to collaboratively tow a cable-connected load through cluttered and unstructured environments while avoiding obstacles. Leveraging cables allows the multi-robot…
Efficiently handling time-triggered and possibly nondeterministic switches for hybrid systems reachability is a challenging task. In this paper we present an approach based on conservative set-based enclosure of the dynamics that can handle…
Networks of interconnected neurons display diverse patterns of collective activity. Relating this collective activity to the network's connectivity structure is a key goal of computational neuroscience. We approach this question for…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
This paper proposes an simple but yet effective approach to structured parametric controller design in a linear fractional form. The main contribution consists in using structured $\mathcal{H}_\infty$ oriented optimization tools in an…
In this paper, we propose an event-based sampling policy to implement a constraint-tightening, robust MPC method. The proposed policy enjoys a computationally tractable design and is applicable to perturbed, linear time-invariant systems…
We present an approach to design stabilizing controllers for a set of linear systems without restrictions regarding their modeling order. To this end, the systems are treated as abstract objects in the space of the $\nu$-gap metric. Via a…
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier…
Many applications want to use TCP congestion control to regulate the transmission rate of a data packet stream. A natural way to achieve this goal is to transport the data packet stream on a TCP connection. However, because TCP implements…
Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation,…
Based on the impressive features that network coding and compressed sensing paradigms have separately brought, the idea of bringing them together in practice will result in major improvements and influence in the upcoming 5G networks. In…
We investigate the ability of Aufbau suppressed coupled cluster theory to act as a post-linear-response correction to widely used linear response methods for electronically excited states. We find that the theory is highly resilient to…
This paper presents a dissipativity-based distributed droop-free control and communication topology co-design framework for voltage regulation and current sharing in DC microgrids (MGs), where constant-power loads (CPLs) and voltage-source…
With the rapid development of renewable and distributed energies, the underlying dynamics of power systems are no longer dominated by large synchronous generators, but by numerous dynamic components with heterogeneous characteristics. In…
In this paper, we propose a distributed OpenFlow controller and an associated coordination framework that achieves scalability and reliability even under heavy data center loads. The proposed framework, which is designed to work with all…
Research on stabilization of coupled hyperbolic PDEs has been dominated by the focus on pairs of counter-convecting ("heterodirectional") transport PDEs with distributed local coupling and with controls at one or both boundaries. A recent…
Aggregations of thermostatically controlled loads (TCLs), such as air conditioners, offer valuable flexibility to the power grid. The aggregate power consumption of a TCL fleet can be controlled by adjusting thermostat setpoints. An…
This paper presents a sample-efficient data-driven method to design model predictive control (MPC) for cable-actuated soft robotics using Bayesian optimization. Instead of modeling the complex dynamics of the soft robots, the proposed…
We optimize matrix-product state-based algorithms for simulating quantum circuits with finite fidelity, specifically the time-evolving block decimation (TEBD) and the density-matrix renormalization group (DMRG) algorithms, by exploiting the…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…