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We study synchronization in large populations of coupled phase oscillators with time-delays, higher order interactions. With each of these effects individually giving rise to bistabiltiy between incoherence and synchronization via a…
In this paper, we use dynamical systems to analyze stability of desynchronization algorithms at equilibrium. We start by illustrating the equilibrium of a dynamic systems and formalizing force components and time phases. Then, we use Linear…
Motivation: Many biochemical pathways are known, but the numerous parameters required to correctly explore the dynamics of the pathways are not known. For this reason, algorithms that can make inferences by looking at the topology of a…
This paper studies stochastic aperiodic stabilization of a networked control system (NCS) consisting of a continuous-time plant and a discrete-time controller. The plant and the controller are assumed to be connected by communication…
We analyze robust stability, in an input-output sense, of switched stable systems. The primary goal (and contribution) of this paper is to design switching strategies to guarantee that input-output stable systems remain so under switching.…
Load balancing between base stations (BSs) allows BS capacity to be efficiently utilised and avoid outages. Currently, data-driven mechanisms strive to balance inter-BS load and reduce unnecessary handovers. The challenge is that over a…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
Key to rich, dexterous manipulation in the real world is the ability to coordinate control across two hands. However, while the promise afforded by bimanual robotic systems is immense, constructing control policies for dual arm autonomous…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Movement synchrony reflects the coordination of body movements between interacting dyads. The estimation of movement synchrony has been automated by powerful deep learning models such as transformer networks. However, instead of designing a…
Synchronization of coupled oscillators is a fundamental process in both natural and artificial networks. While much work has investigated the asymptotic stability of the synchronous solution, the fundamental question of the transient…
Synchronization has great impacts in various fields such as self-clocking, communication, neural networks, etc. Here we present a mechanism of synchronization for two mechanical modes in two coupled optomechanical resonators by introducing…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
We derive a master stability function (MSF) for synchronization in networks of coupled dynamical systems with small but arbitrary parametric variations. Analogous to the MSF for identical systems, our generalized MSF simultaneously solves…
Fluent human-human teaming is often characterized by tacit interaction without explicit communication. This is because explicit communication, such as language utterances and gestures, are inherently interruptive. On the other hand, tacit…
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
Networks of neural mass nodes with delayed interactions are increasingly being used as models for large-scale brain activity. To complement the growing number of computational studies of such networks, it is timely to develop new…
Stability is a fundamental concept that refers to a system's ability to return close to its original state after disturbances. The minimal conditions for stability when system parameters vary in time, though common in physics, have been…
When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…