Related papers: A Control Barrier Function Approach to Constrained…
Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical constraints. Together with control Lyapunov function (CLF), it…
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to offer tracking stability using control Lyapunov functions…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
With quadrotors becoming immensely popular in applications such as relief operations, infrastructure maintenance etc., a key control design challenge arises when the quadrotor has to manoeuvre through constrained spaces during various…
A central problem in business concerns the optimal allocation of limited resources to a set of available tasks, where the payoff of these tasks is inherently uncertain. In credit card fraud detection, for instance, a bank can only assign a…
Federated learning (FL) enables distributed model training from local data collected by users. In distributed systems with constrained resources and potentially high dynamics, e.g., mobile edge networks, the efficiency of FL is an important…
In this paper, we focus on a class of constrained nonlinear optimization problems (NLP), where some of its equality constraints define a closed embedded submanifold $\mathcal{M}$ in $\mathbb{R}^n$. Although NLP can be solved directly by…
We propose an approach to synthesize linear feedback controllers for linear systems in polygonal environments. Our method focuses on designing a robust controller that can account for uncertainty in measurements. Its inputs are provided by…
The facility location problems (FLPs) are a typical class of NP-hard combinatorial optimization problems, which are widely seen in the supply chain and logistics. Many mathematical and heuristic algorithms have been developed for optimizing…
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapunov-Barrier Functions (CLBFs) can enforce recovery to the…
The Flow Refueling Location Problem (FRLP) is a stylized model for determining the optimal placement of refueling stations for vehicles with limited travel ranges, such as hydrogen fuel cell vehicles and electric vehicles. A notable…
We study the extended version of the non-uniform, capacitated facility location problem with multiple fulfilment channels between the facilities and clients, each with their own channel capacities and service cost. Though the problem has…
Resource allocation plays a central role in many networked systems such as smart grids, communication networks and urban transportation systems. In these systems, many constraints have physical meaning and having feasible allocation is…
In today's dynamic and interconnected world, resource constraints pose significant challenges across various domains, ranging from networks, logistics and manufacturing to project management and optimization, etc. Resource-constrained…
We investigate the sequential competitive facility location problem (SCFLP) under partially binary rule where two companies sequentially open a limited number of facilities to maximize their market shares, requiring customers to patronize,…
The capacitated location-routing problems (CLRPs) are classical problems in combinatorial optimization, which require simultaneously making location and routing decisions. In CLRPs, the complex constraints and the intricate relationships…
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
This paper introduces a novel theoretical framework and a suite of highly efficient, parallelizable algorithms for solving the large-scale multicommodity flow (MCF) feasibility problem. We reframe the classical constraint-satisfaction…
A common tool in system theory for formulating control laws that achieve local asymptotic stability are Control Lyapunov functions (CLFs), while Control Barrier functions (CBFs) are typically employed to enforce safety constraints.…
We formulate the Alternating Current Optimal Power Flow Problem (ACOPF) as a Linear Constrained Quadratic Program (LCQP) with many negative eigenvalues ($r$) and linear constraints, making it NP-hard. We propose two algorithms, Feasible…