Related papers: Potential gains of communication-compute-control c…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
Interference alignment is degree of freedom optimal in K -user MIMO interference channels and many previous works have studied the transceiver designs. However, these works predominantly focus on networks with perfect channel state…
In factory automation, heterogeneous manufacturing processes need to be coordinated over wireless networks to achieve safety and efficiency. These wireless networks, however, are inherently unreliable due to shadow fading induced by the…
Cooperative driving, enabled by communication between automated vehicle systems, is expected to significantly contribute to transportation safety and efficiency. Cooperative Adaptive Cruise Control (CACC) and platooning are two of the main…
A data-driven computational heuristic is proposed to control MIMO systems without prior knowledge of their dynamics. The heuristic is illustrated on a two-input two-output balance system. It integrates a self-adjusting nonlinear threshold…
This paper articulates design and performance analysis of digital controllers in discrete and continuous time domains for a single-joint robot arm manipulator. The investigated robot arm system is modeled as a single degree of freedom (DOF)…
The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…
Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…
Connected and autonomous vehicles (CAVs) are promising due to their potential safety and efficiency benefits and have attracted massive investment and interest from government agencies, industry, and academia. With more computing and…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
A critical limitation in large-scale multi-agent systems is the cascading of errors. And without intermediate verification, downstream agents exacerbate upstream inaccuracies, resulting in significant quality degradation. To bridge this…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Ultra-reliable and low-latency communications (URLLC) are considered as one of three new application scenarios in the fifth generation cellular networks. In this work, we aim to reduce the user experienced delay through prediction and…
Optimization with preference feedback is an active research area with many applications in engineering systems where humans play a central role, such as building control and autonomous vehicles. While most existing studies focus on…
Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…
This paper considers the problem of steady-state real-time optimization (RTO) of interconnected systems with a common constraint that couples several units, for example, a shared resource. Such problems are often studied under the context…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
Goal-oriented communication has become one of the focal concepts in sixth-generation communication systems owing to its potential to provide intelligent, immersive, and real-time mobile services. The emerging paradigms of goal-oriented…
Topology control algorithms allow each node in a wireless multi-hop network to adjust the power at which it makes its transmissions and choose the set of neighbors with which it communicates directly, while preserving global goals such as…
Defense mechanisms against network-level attacks are commonly based on the use of cryptographic techniques, such as message authentication codes that provide data integrity guarantees. However, such mechanisms require significant resources,…