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This paper proposes a control algorithm for stable implementation of asynchronous parallel quadratic programming (PQP) through dual decomposition technique. In general, distributed and parallel optimization requires synchronization of data…
Among the various critical systems that worth to be formally analyzed, a wide set consists of controllers for dynamical systems. Those programs typically execute an infinite loop in which simple com putations update internal states and…
Control of continuous time dynamics with multiplicative noise is a classic topic in stochastic optimal control. This work addresses the problem of designing infinite horizon optimal controls with stability guarantees for \textit{a single…
We study the simultaneous actuator selection and controller design problem for linear quadratic regulation with Gaussian noise over a finite horizon of length $T$ and unknown system model. We consider both episodic and non-episodic settings…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
Recent advancements in predictive machine learning has led to its application in various use cases in manufacturing. Most research focused on maximising predictive accuracy without addressing the uncertainty associated with it. While…
Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians -- poses a major challenge as the behavior of the environment is unknown and reactive to the behavior of the…
Applying LLM-based multi-agent software systems in safety-critical domains such as lifespan echocardiography introduces system-level risks that cannot be addressed by improving model accuracy alone. During system operation, beyond…
With the gradual advancement of a novel idea of the distributed control of the multiagent systems, an event-triggered control protocol has received significant research attention, especially in designing the controller for the nonlinear…
We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
The quantum circuit mapping approach is an indispensable part of the software stack for the noisy intermediatescale quantum (NISQ) device. It has a significant impact on the reliability of computational tasks on NISQ devices. To improve the…
We consider the problem of computing optimal linear control policies for linear systems in finite-horizon. The states and the inputs are required to remain inside pre-specified safety sets at all times despite unknown disturbances. In this…
Quantum optimal control for gate optimization aims to provide accurate, robust, and fast pulse sequences to achieve gate fidelities on quantum systems below the error correction threshold. Many methods have been developed and successfully…
The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these conditions are essential to ensure the existence and…
There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algorithm to minimize closed-loop performance measures such as…