Related papers: System-Level Performance and Communication Tradeof…
Diffusion models have shown promise in text generation, but often struggle with generating long, coherent, and contextually accurate text. Token-level diffusion doesn't model word-order dependencies explicitly and operates on short, fixed…
This paper deals with the problem of distributed control synthesis. We seek to find structured controllers that are stably realizable over the underlying network. We address the problem using an operator form of discrete-time linear…
Standard model predictive control strategies imply the online computation of control inputs at each sampling instance, which traditionally limits this type of control scheme to systems with slow dynamics. This paper focuses on distributed…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
We investigate the optimal power allocation and optimal precoding for a multi-cell-processing (MCP) framework with limited cooperation. In particular, we consider two base stations(BSs) which maximize the achievable rate for two users…
The distributed synthesis problem is about constructing cor- rect distributed systems, i.e., systems that satisfy a given specification. We consider a slightly more general problem of distributed control, where the goal is to restrict the…
Self-supervised learning (SSL) has grown in interest within the speech processing community, since it produces representations that are useful for many downstream tasks. SSL uses global and contextual methods to produce robust…
With the emergence of time-critical applications in modern communication networks, there is a growing demand for proactive network adaptation and quality of service (QoS) prediction. However, a fundamental question remains largely…
We consider the problem of output feedback controller sparsification for systems with parametric uncertainties. We develop an optimization scheme that minimizes the performance deterioration caused by the sparsification process, while…
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…
Networked control systems (NCS) have attracted considerable attention in recent years. While the stabilizability and optimal control of NCS for a given communication system has already been studied extensively, the design of the…
We introduce the first, to our knowledge, rigorous approach that enables multi-agent networks to self-configure their communication topology to balance the trade-off between scalability and optimality during multi-agent planning. We are…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…
This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by…
Self-adaptive systems are expected to mitigate disruptions by continually adjusting their configuration and behaviour. This mitigation is often reactive. Typically, environmental or internal changes trigger a system response only after a…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…
Distributed switched large-scale systems are composed by dynamically coupled subsystems, in which interactions among subsystems vary over time according to an exogenous input signal named switching signal. In this paper, we present a…
This paper introduces a new framework for analyzing the stability of discrete-time model predictive controllers acting on continuous-time systems. The proposed framework introduces the distinction between discretization time (used to…