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This note studies the global controllability of a general nonlinear system by extending it to affine one. The state space of the obtained affine system admits a nature foliation, each leaf of which is diffeomorphic to the state space of the…

Despite significant progress in text-to-image diffusion models, achieving precise spatial control over generated outputs remains challenging. ControlNet addresses this by introducing an auxiliary conditioning module, while ControlNet++…

We propose an adaptive control protocol for identifying the topology of dynamical networks interconnected over undirected graphs with cooperative and antagonistic interactions. The signed network is modeled using a repelling Laplacian.…

Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…

This work analyzes the convergence properties of signed networks with nonlinear edge functions. We consider diffusively coupled networks comprised of maximal equilibrium-independent passive (MEIP) dynamics on the nodes, and a general class…

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…

We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The…

This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

This paper presents several conditions to determine strong sign controllability for diffusively-coupled undirected networks. The strong sign controllability is determined by the sign patterns (positive, negative, zero) of the edges. We…

Empirical networked systems are often only partially observed: sampling frames, crawling policies, privacy constraints, and temporal gaps can leave actors and edges unobserved. This complicates robustness and sensitivity analysis because…

We study synchronization for linearly coupled temporal networks of heterogeneous time-dependent nonlinear agents via the convergence of attracting trajectories of each node. The results are obtained by constructing and studying the…

Federated learning enables training on a massive number of edge devices. To improve flexibility and scalability, we propose a new asynchronous federated optimization algorithm. We prove that the proposed approach has near-linear convergence…

Fusing measurements from multiple, heterogeneous, partial sources, observing a common object or process, poses challenges due to the increasing availability of numbers and types of sensors. In this work we propose, implement and validate an…

This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…

This study develops an original and innovative matrix representation with respect to the information flow for networked multi-agent system. To begin with, the general concepts of the edge Laplacian of digraph are proposed with its algebraic…

Diffusion models achieve state-of-the-art performance in generating realistic objects and have been successfully applied to images, text, and videos. Recent work has shown that diffusion can also be defined on graphs, including graph…

The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…

In this paper, we discuss distributive synchronization of complex networks in finite time, with a single nonlinear pinning controller. The results apply to heterogeneous dynamic networks, too. Different from many models, which assume the…

Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…