Related papers: Potential gains of communication-compute-control c…
This article investigates a control system within the context of six-generation wireless networks. The control performance optimization confronts the technical challenges that arise from the intricate interactions between communication and…
Control co-design (CCD) explores physical and control design spaces simultaneously to optimize a system's performance. A commonly used CCD framework aims to achieve open-loop optimal control (OLOC) trajectory while optimizing the physical…
This paper proposes a task-oriented co-design framework that integrates communication, computing, and control to address the key challenges of bandwidth limitations, noise interference, and latency in mission-critical industrial…
In model-predictive control (MPC), achieving the best closed-loop performance under a given computational resource is the underlying design consideration. This paper analyzes the MPC design problem with control performance and required…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
This paper introduces a control co-design (CCD) framework to simultaneously explore the physical parameters and control spaces for a hydro-kinetic turbine (HKT) rotor optimization. The optimization formulation incorporates a coupled…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…
Networked control strategies based on limited information about the plant model usually results in worse closed-loop performance than optimal centralized control with full plant model information. Recently, this fact has been established by…
Rapid advancements in field robots have brought a new kind of cyber physical system (CPS)--unmanned robotic system--under the spotlight. In the upcoming sixth-generation (6G) era, these systems hold great potential to replace humans in…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
Mathematical optimization is one of the cornerstones of modern engineering research and practice. Yet, throughout all application domains, mathematical optimization is, for the most part, considered to be a numerical discipline.…
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,…
This paper proposes a novel joint computation and communication cooperation approach in mobile edge computing (MEC) systems, which enables user cooperation in both computation and communication for improving the MEC performance. In…
In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
We consider the joint design of packet forwarding policies and controllers for wireless control loops where sensor measurements are sent to the controller over an unreliable and energy-constrained multi-hop wireless network. For fixed…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
This paper presents a control reconfiguration approach to improve the performance of two classes of dynamical systems. Motivated by recent research on re-engineering cyber-physical systems, we propose a three-step control retrofit…
The stringent timing and reliability requirements in mission-critical applications require a detailed statistical characterization of the latency. Teleoperation is a representative use case, in which a human operator (HO) remotely controls…