Related papers: Monitoring autonomous persistent surveillance miss…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
We investigate the structure of the invariant measure of space-time chaos by adopting an "open-system" point of view. We consider large but finite windows of formally infinite one-dimensional lattices and quantify the effect of the…
Complex systems are often composed of many small communicating components called modules. We investigate the synthesis of supervisory controllers for modular systems under partial observation that, as the closed-loop system, realize the…
In learning-enabled autonomous systems, safety monitoring of learned components is crucial to ensure their outputs do not lead to system safety violations, given the operational context of the system. However, developing a safety monitor…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
Despite surveillance systems are becoming increasingly ubiquitous in our living environment, automated surveillance, currently based on video sensory modality and machine intelligence, lacks most of the time the robustness and reliability…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
This paper considers a class of uncertain linear quantum systems subject to uncertain perturbations in the system Hamiltonian. We present a method to design a coherent robust H-infinity controller so that the closed loop system is robustly…
Runtime monitoring is essential for the violation detection during the underlying software system execution. In this paper, an investigation of the monitoring activity of MAPE-K control loop is performed which aims at exploring:(1) the…
Dynamical models are often corrupted by model uncertainties, external disturbances, and measurement noise. These factors affect the performance of model-based observers and as a result, affect the closed-loop performance. Therefore, it is…
We investigate the problem of monitoring partially observable systems with nondeterministic and probabilistic dynamics. In such systems, every state may be associated with a risk, e.g., the probability of an imminent crash. During runtime,…
This paper is devoted to the design of full order proportional-integral observer for the state estimation of discrete-time linear time-invariant systems. In particular, explicit necessary and sufficient conditions are established for the…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Many software engineering tasks, such as testing, and anomaly detection can benefit from the ability to infer a behavioral model of the software.Most existing inference approaches assume access to code to collect execution sequences. In…
Robust performance of control schemes for open quantum systems is investigated under classical uncertainties in the generators of the dynamics and nonclassical uncertainties due to decoherence and initial state preparation errors. A…
Achieving optimal steady-state performance in real-time is an increasingly necessary requirement of many critical infrastructure systems. In pursuit of this goal, this paper builds a systematic design framework of feedback controllers for…
The paper studies the visibility maintenance problem (VMP) for a leader-follower pair of Dubins-like vehicles with input constraints, and proposes an original solution based on the notion of controlled invariance. The nonlinear model…
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, and is robust to exogenous disturbances. To this end, we…