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In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
The wireless communication technologies have fundamentally revolutionized industrial operations. The operation of the automated equipment is conducted in a closed-loop manner, where the status of devices is collected and sent to the control…
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial.…
We address the problem of sparsity-promoting optimal control of cyber-physical systems (CPSs) in the presence of communication delays. The delays are categorized into two types - namely, an inter-layer delay for passing state and control…
Communication topology is a crucial part of a distributed control implementation for cyber-physical systems, yet is typically treated as a constraint within control design problems rather than a design variable. We propose a data-driven…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
Despite rapid evolution, embedded computing systems increasingly feature resource constraints and workload uncertainties. To achieve much better system performance in unpredictable environments than traditional design approaches, a novel…
A common aspect of today's cyber-physical systems is that multiple optimization-based control tasks may execute in a shared processor. Such control tasks make use of online optimization and thus have large execution times; hence, their…
We introduce the family of limited model information control design methods, which construct controllers by accessing the plant's model in a constrained way, according to a given design graph. We investigate the closed-loop performance…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
Co-designing autonomous robotic agents involves simultaneously optimizing the controller and physical design of the agent. Its inherent bi-level optimization formulation necessitates an outer loop design optimization driven by an inner loop…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…