Related papers: Towards a Theory of Control Architecture: A quanti…
We present temporally layered architecture (TLA), a biologically inspired system for temporally adaptive distributed control. TLA layers a fast and a slow controller together to achieve temporal abstraction that allows each layer to focus…
Autonomous systems typically leverage layered control architectures with a combination of discrete and continuous models operating at different timescales. As a result, layered systems form a new class of hybrid systems composed of systems…
To understand the controllability of complex networks is a forefront problem relevant to different fields of science and engineering. Despite recent advances in network controllability theories, an outstanding issue is to understand the…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
Layered Cellular Automata (LCA) extends the concept of traditional cellular automata (CA) to model complex systems and phenomena. In LCA, each cell's next state is determined by the interaction of two layers of computation, allowing for…
Robust control theory has been successfully applied to numerous real-world problems using a small set of devices called {\it controllers}. However, the real systems represented by networks contain unreliable components and modern robust…
The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed…
Supervisory Control and Data Acquisition (SCADA) systems support and control the operation of many critical infrastructures that our society depend on, such as power grids. Since SCADA systems become a target for cyber attacks and the…
Logic is playing an increasingly important role in the engineering of real-time, hybrid, and cyber-physical systems, but mostly in the form of posterior verification and high-level analysis. The core methodology in the design of real-world…
In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…
The traditional control theory and its application to basic and complex systems have reached an advanced level of maturity. This includes aerial, marine, and ground vehicles, as well as robotics, chemical, transportation, and electrical…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
Structural controllability has been proposed as an analytical framework for making predictions regarding the control of complex networks across myriad disciplines in the physical and life sciences (Liu et al., Nature:473(7346):167-173,…
A reflection of our ultimate understanding of a complex system is our ability to control its behavior. Typically, control has multiple prerequisites: It requires an accurate map of the network that governs the interactions between the…
The paradigm of layered networks is used to describe many real-world systems -- from biological networks, to social organizations and transportation systems. Recently there has been much progress in understanding the general properties of…
Layered control is essential for managing complexity in large-scale systems, employing progressively coarser models at higher layers. While significant advances have been made for fully observable systems, the theoretical foundations of…
Controlling complex networks is of paramount importance in science and engineering. Despite the recent development of structural-controllability theory, we continue to lack a framework to control undirected complex networks, especially…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
This letter proposes a three-tier computational architecture for the real-time control of nonlinear complex systems, such as time-dependent PDEs. There is an important class of such problems for which existing single- and two-time-scale…
We present a diagrammatic method to build up sophisticated cellular automata (CAs) as models of complex physical systems. The diagrams complement the mathematical approach to CA modeling, whose details are also presented here, and allow CAs…