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Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…
Accurate positioning and fast traversal times determine the productivity in machining applications. This paper demonstrates a hierarchical contour control implementation for the increase of productivity in positioning systems. The…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…
The increasing penetration of embedded renewables makes forecasting net-load, consumption less embedded generation, a significant and growing challenge. Here a framework for producing probabilistic forecasts of net-load is proposed with…
In this paper we develop scheduling policies that maximize the stability region of a wireless network under the assumption that mutual information accumulation is implemented at the physical layer. When the link quality between nodes is not…
Throughput-optimal transmission scheduling in wireless networks has been a well considered problem in the literature, and the method for achieving optimality, MaxWeight scheduling, has been known for several decades. This algorithm achieves…
This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
Several novel industrial applications involve human control of vehicles, cranes, or mobile robots through various high-throughput feedback systems, such as Virtual Reality (VR) and tactile/haptic signals. The near real-time interaction…
Reinforcement learning (RL) has been a promising essence in future 5G-beyond and 6G systems. Its main advantage lies in its robust model-free decision-making in complex and large-dimension wireless environments. However, most existing RL…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
In this paper, we study a network slicing problem for edge-cloud orchestrated vehicular networks, in which the edge and cloud servers are orchestrated to process computation tasks for reducing network slicing cost while satisfying the…
Autonomous robotic systems require advanced control frameworks to achieve complex temporal objectives that extend beyond conventional stability and trajectory tracking. Signal Temporal Logic (STL) provides a formal framework for specifying…
Networked control systems (NCSs) are feedback control loops that are closed over a communication network. Emerging applications, such as telerobotics, drones and autonomous driving are the most prominent examples of such systems. Regular…
This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…
In future autonomous systems, wireless multi-hop communication is key to enable collaboration among distributed agents at low cost and high flexibility. When many agents need to transmit information over the same wireless network,…
Radio frequency (RF) energy harvesting is key in attaining perpetual lifetime for time-critical wireless powered communication networks due to full control on energy transfer, far field region, small and low-cost circuitry. In this paper,…
A recurring theme in optimal controller design for wireless networked control systems (WNCS) is the reliance on real-time channel state information (CSI). However, acquiring accurate CSI a priori is notoriously challenging due to the…
Reconfigurable intelligent surfaces (RISs) have demonstrated an unparalleled ability to reconfigure wireless environments by dynamically controlling the phase, amplitude, and polarization of impinging waves. However, as nearly passive…