Related papers: Potential gains of communication-compute-control c…
This thesis is concerned with the design of distributed algorithms for solving optimization problems. We consider networks where each node has exclusive access to a cost function, and design algorithms that make all nodes cooperate to find…
Quantum coherence inherently affects the dynamics and the performances of a quantum machine. Coherent control can, at least in principle, enhance the work extraction and boost the velocity of evolution in an open quantum system. Using…
In superconducting devices running variational workloads, gate and readout fidelities drift on hour timescales, while existing runtime schedulers treat backend quality as static. The temporal dimension of calibration remains unresolved. We…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…
With traditional open-loop scheduling of network resources, the quality-of-control (QoC) of networked control systems (NCSs) may degrade significantly in the presence of limited bandwidth and variable workload. The goal of this work is to…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
In Cyber Physical Systems (CPSs), two groups of actors interact toward the maximization of system performance: the sensors, observing and disseminating the system state, and the actuators, performing physical decisions based on the received…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
This paper studies the co-design of actuators, sensors, and communication in the distributed setting, where a networked plant is partitioned into subsystems each equipped with a sub-controller interacting with other sub-controllers. The…
In this study, we explore an innovative approach to enhance cooperative driving in vehicle platooning systems through the use of vehicle-to-everything (V2X) communication technologies. As Connected and Autonomous Vehicles (CAVs) integrate…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
While load balancing in distributed-memory computing has been well-studied, we present an innovative approach to this problem: a unified, reduced-order model that combines three key components to describe "work" in a distributed system:…
Emerging Metaverse applications, designed to deliver highly interactive and immersive experiences that seamlessly blend physical reality and digital virtuality, are accelerating the need for distributed compute platforms with unprecedented…
Model Predictive Control (MPC) is a computationally demanding control technique that allows dealing with multiple-input and multiple-output systems, while handling constraints in a systematic way. The necessity of solving an optimization…
Networked control systems (NCSs), which are feedback control loops closed over a communication network, have been a popular research topic over the past decades. Numerous works in the literature propose novel algorithms and protocols with…
Recently, quantum computing has gained attention in urban studies as a tool for complex transport planning problems, but its role remains unclear. This paper reviews quantum computing research in urban transport planning and highlights…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…