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This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
The emergence of dynamic rerouting in multi-modal transportation networks has emerged as a crucial area in operations research, revolutionizing routine optimization. The review study analyzes multiple research publications on algorithms and…
An efficient urban bus control system has the potential to significantly reduce travel delays and streamline the allocation of transportation resources, thereby offering enhanced and user-friendly transit services to passengers. However,…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
This paper addresses the problem of controlling constrained systems subject to disturbances in the case where controller and system are connected over a lossy network. To do so, we propose a novel framework that splits the concept of…
For all line-based transit systems like bus, metro and tram, the routes of the lines and the frequencies at which they are operated are determining for the operational performance of the system. However, as transit line planning happens…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
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…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
Motivated by developments in renewable energy and smart grids, we formulate a stylized mathematical model of a transport network with stochastic load fluctuations. Using an affine control rule, we explore the trade-off between the number of…
Multi-task learning (MTL) with neural networks leverages commonalities in tasks to improve performance, but often suffers from task interference which reduces the benefits of transfer. To address this issue we introduce the routing network…
This paper studies the problem of optimizing the train formation plan and traffic routing (TFP&TR) simultaneously. Based on the previous research of TFP&TR with determinate parameters, we consider the fluctuation of flows and associate the…
Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…
Tradable mobility credit (TMC) schemes are an approach to travel demand management that have received significant attention in recent years. This paper proposes and analyzes alternative market models for a TMC system -- focusing on market…
We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide…
System optimal traffic routing can mitigate congestion by assigning routes for a portion of vehicles so that the total travel time of all vehicles in the transportation system can be reduced. However, achieving real-time optimal routing…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
This study introduces a low-complexity behavioural model to describe the dynamic response of railway turnouts due to the ballast and railpad components. The behavioural model should serve as the basis for the future development of a…