Related papers: Supervisory Control of Modular Discrete-Event Syst…
Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem:…
In this paper we revisit the abstraction-based approach to synthesize a hierarchy of decentralized supervisors and coordinators for nonblocking control of large-scale discrete-event systems (DES), and augment it with a new clustering method…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
This paper introduces a new controllability notion, termed partial strong structural controllability (PSSC), on a structured system whose entries of system matrices are either fixed zero or indeterminate, which naturally extends the…
This paper considers the problem of adaptively overriding unsafe actions of a nominal controller in the presence of high-relative-degree nonovershooting constraints and parametric uncertainties. To prevent the design from being coupled with…
In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to probabilistic constraints. Constraints are treated in…
We introduce a new decentralized observation condition which we call "at least one can tell" (OCT) and which attempts to capture the idea that for any possible behavior that a system can generate, at least one decentralized observation…
We describe a probabilistic framework for synthesizing control policies for general multi-robot systems, given environment and sensor models and a cost function. Decentralized, partially observable Markov decision processes (Dec-POMDPs) are…
Collective temporal organization in complex systems is commonly attributed to synchronization, resonance, or proximity to dynamical instabilities. Here we identify a distinct mechanism by which coherent, synchronization-like behavior can…
Control systems should enforce a desired property for both expected modeled situations as well as unexpected unmodeled environmental situations. Existing methods focus on designing controllers to enforce the desired property only when the…
Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…
Large network logs, recording multivariate time series generated from heterogeneous devices and sensors in a network, can often reveal important information about abnormal activities, such as network intrusions and device malfunctions.…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
We present an algorithm for synthesising a controller (supervisor) for a discrete event system (DES) based on the property-directed reachability (PDR) model checking algorithm. The discrete event systems framework is useful in both…
In this paper we develop a data-driven approach for marking nonblocking supervisory control of discrete-event systems (DES). We consider a setup in which models of DES to be controlled are unknown, but a set of data concerning the behaviors…
We study the problem of synthesizing a controller that maximizes the entropy of a partially observable Markov decision process (POMDP) subject to a constraint on the expected total reward. Such a controller minimizes the predictability of a…
In this paper, we consider composite networks formed from the Kronecker product of smaller networks. We find the observability and controllability properties of the product network from those of its constituent smaller networks. The overall…
In practice, we can not only disable some events, but also enforce the occurrence of some events prior to the occurrence of other events by external control. In this paper, we combine these two control mechanisms to synthesize a more…
The automation of condition monitoring and workpiece inspection plays an essential role in maintaining high quality as well as high throughput of the manufacturing process. To this end, the recent rise of developments in machine learning…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…