Related papers: Switched max-plus linear-dual inequalities: cycle …
I propose a novel framework that integrates stochastic differential equations (SDEs) with deep generative models to improve uncertainty quantification in machine learning applications involving structured and temporal data. This approach,…
In Autonomous Driving Systems (ADS), Directed Acyclic Graphs (DAGs) are widely used to model complex data dependencies and inter-task communication. However, existing DAG scheduling approaches oversimplify data fusion tasks by assuming…
This paper deals with design of maximum hands-off hybrid control sequences for discrete-time switched linear systems. It is a sparsest combination of a discrete control sequence (i.e. the switching sequence) and a continuous control…
This paper addresses the problem of data-driven model discrimination for unknown switched systems with unknown linear temporal logic (LTL) specifications, representing tasks, that govern their mode sequences, where only sampled data of the…
Recent literature has shown how linear time-invariant (LTI) systems can be represented by trajectories features, that is relying on a single input-output (IO) data dictionary to span all possible system trajectories, as long as the input is…
In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of…
The control properties of discrete-time switched linear systems (SLS) with switching signals generated by logical dynamic systems are studied using the semi-tensor product (STP) approach. With the algebraic state space representation…
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Linear max-plus systems describe the behavior of a large variety of complex systems. It is known that these systems show a periodic behavior after an initial transient phase. Assessment of the length of this transient phase provides…
We analyze the asymptotic behavior of sequences of random variables defined by an initial condition, a stationary and ergodic sequence of random matrices, and an induction formula involving multiplication is the so-called max-plus algebra.…
Many applications require solving sequences of related mixed-integer linear programs. We introduce a class of parametric disjunctive inequalities (PDIs), obtained by reusing the disjunctive proofs of optimality from prior solves to…
We consider the optimal control design problem for discrete-time LTI systems with state feedback, when the actuation signal is subject to unmeasurable switching propagation delays, due to e.g. the routing in a multi-hop communication…
In this paper, we address the scheduling problem of multi-mode real-time systems upon uniform multiprocessor platforms. We propose two transition protocols, specified together with their schedulability test, and provide the reader with two…
A new class of stochastic processes called independent and periodically identically distributed (i.p.i.d.) processes is defined to capture periodically varying statistical behavior. Algorithms are proposed to detect changes in such i.p.i.d.…
We consider the design of an optimal collision-free sensor schedule for a number of sensors which monitor different linear dynamical systems correspondingly. At each time, only one of all the sensors can send its local estimate to the…
Multi-mode real-time systems are those which support applications with different modes of operation, where each mode is characterized by a specific set of tasks. At run-time, such systems can, at any time, be requested to switch from its…
The goal of this paper is to develop data-driven control design and evaluation strategies based on linear matrix inequalities (LMIs) and dynamic programming. We consider deterministic discrete-time LTI systems, where the system model is…
Level-sensitive latches are widely used in high- performance designs. For such circuits efficient statistical timing analysis algorithms are needed to take increasing process vari- ations into account. But existing methods solving this…
We derive novel criteria for designing stabilizing dynamic output-feedback controllers for a class of aperiodic impulsive systems subject to a range dwell-time condition. Our synthesis conditions are formulated as clock-dependent linear…