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Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
Embedded systems are pervasively used in many fields nowadays. In mixed-criticality environments (automotive, industry 4.0, drones, etc.) they need to run real-time applications with certain time and safety constraints alongside a rich…
Communication performance and channel estimation accuracy in MIMO systems are known to be limited by hardware impairments. Specifically, the presence of phase impairments, such as phase noise, makes real-time coherent transmission a…
We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rollouts under the policy, we bound the expected value,…
Device driver isolation is a promising approach for protecting the kernel from faulty or malicious drivers, but the actual security provided by such frameworks is often not well understood. Recent research has identified Compartment…
One of the biggest concerns in IoT is privacy and security. Encryption and authentication need big power budgets, which battery-operated IoT end-nodes do not have. Hardware accelerators designed for specific cryptographic operations provide…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Based on recent advances in fibration symmetry theory, we investigate how structural symmetries influence synchronization in systems with higher-order interactions (HOI). Using bipartite graph representations, we identify a node partition…
A key source of brittleness for robotic systems is the presence of model uncertainty and external disturbances. Most existing approaches to robust control either seek to bound the worst-case disturbance (which results in conservative…
Gearbox fault diagnosis is one of the most important parts in any industrial systems. Failure of components inside gearbox can lead to a catastrophic failure, uneven breakdown, and financial losses in industrial organization. In that case…
Combinatorial optimization problems are computationally hard in general, but they are ubiquitous in our modern life. A coherent Ising machine (CIM) based on a multiple-pulse degenerate optical parametric oscillator (DOPO) is an alternative…
The rapid expansion of heterogeneous Internet of Things (IoT) environments has heightened security risks, as resource-constrained devices remain vulnerable to diverse cyberattacks. Federated Learning (FL) has emerged as a privacy-preserving…
Kitting refers to the task of preparing and grouping necessary parts and tools (or "kits") for assembly in a manufacturing environment. Automating this process simplifies the assembly task for human workers and improves efficiency. Existing…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
Hardware accelerators, such as those based on GPUs and FPGAs, offer an excellent opportunity to efficiently parallelize functionalities. Recently, modern embedded platforms started being equipped with such accelerators, resulting in a…
Smartphone owners often need to run security-critical programs on the same device as other untrusted and potentially malicious programs. This requires users to trust hardware and system software to correctly sandbox malicious programs,…
Iteration limited model predictive control (MPC) can stabilize a feedback control system under sufficient conditions; this work explores combining a low iteration limit MPC with a high iteration limit MPC for mixed-integer quadratic…
The self-* properties commonly associated with the concept of autonomic computing are capabilities desirable for avionics software platforms. They decrease the configuration effort and inherently provide new fault tolerance and resource…
Multimodal IoT systems coordinate diverse IoT devices to deliver human-centered services. The ability to incorporate new IoT devices under the management of a centralized platform is an essential requirement. However, it requires…